Surgical instrument including a flexible support configured to support a flexible firing member

ABSTRACT

A surgical instrument that includes an elongate channel that is configured to operably support a surgical staple cartridge therein. In at least one form, an anvil is pivotally coupled to a proximal end of the elongate channel such that the anvil is pivotal about a discrete, non-movable anvil axis defined by the elongate channel. A firing member is configured for axial travel within the elongate channel in response to an application of firing motions thereto. The firing member is configured to movably engage the anvil and the elongate channel to space the anvil relative to the elongate channel at a desired spacing as the firing member is axially driven through the elongate channel. A closure member is configured to move the anvil from an open position to closed positions relative to the elongate channel upon application of closure motions to the closure member.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation application claiming priority under35 U.S.C. § 120 to U.S. Pat. application Ser. No. 17/708,996, entitledSURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT ADISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, filed Mar. 30,2022, now U.S. Pat. Application Publication No. ______, which is acontinuation application claiming priority under 35 U.S.C. § 120 to U.S.Pat. application Ser. No. 16/838,263, entitled SURGICAL INSTRUMENT WITHAN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXISRELATIVE TO A STAPLE CARTRIDGE, filed Apr. 2, 2020, which issued on Feb.7, 2023 as U.S. Pat. No. 11,571,207, which is a continuation applicationclaiming priority under 35 U.S.C. § 120 to U.S. Pat. application Ser.No. 16/293,186, entitled SURGICAL STAPLING SYSTEM INCLUDING A FLEXIBLEFIRING ACTUATOR AND LATERAL BUCKLING SUPPORTS, filed Mar. 5, 2019, whichissued on Aug. 10, 2021 as U.S. Pat. No. 11,083,453, which is acontinuation application claiming priority under 35 U.S.C. § 120 to U.S.Pat. application Ser. No. 14/575,130, entitled SURGICAL INSTRUMENT WITHAN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXISRELATIVE TO A STAPLE CARTRIDGE, filed Dec. 18, 2014, which issued onApr. 2, 2019 as U.S. Pat. No. 10,245,027, the disclosures of which arehereby incorporated by reference herein.

BACKGROUND

The present invention relates to surgical instruments and, in variousembodiments, to surgical stapling and cutting instruments and staplecartridges for use therewith.

A stapling instrument can include a pair of cooperating elongate jawmembers, wherein each jaw member can be adapted to be inserted into apatient and positioned relative to tissue that is to be stapled and/orincised. In various embodiments, one of the jaw members can support astaple cartridge with at least two laterally spaced rows of staplescontained therein, and the other jaw member can support an anvil withstaple-forming pockets aligned with the rows of staples in the staplecartridge. Generally, the stapling instrument can further include apusher bar and a knife blade which are slidable relative to the jawmembers to sequentially eject the staples from the staple cartridge viacamming surfaces on the pusher bar and/or camming surfaces on a wedgesled that is pushed by the pusher bar. In at least one embodiment, thecamming surfaces can be configured to activate a plurality of stapledrivers carried by the cartridge and associated with the staples inorder to push the staples against the anvil and form laterally spacedrows of deformed staples in the tissue gripped between the jaw members.In at least one embodiment, the knife blade can trail the cammingsurfaces and cut the tissue along a line between the staple rows.Examples of such stapling instruments are disclosed in U.S. Pat. No.7,794,475, entitled SURGICAL STAPLES HAVING COMPRESSIBLE OR CRUSHABLEMEMBERS FOR SECURING TISSUE THEREIN AND STAPLING INSTRUMENTS FORDEPLOYING THE SAME, the entire disclosure of which is herebyincorporated by reference herein.

The foregoing discussion is intended only to illustrate various aspectsof the related art in the field of the invention at the time, and shouldnot be taken as a disavowal of claim scope.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a perspective view of a powered surgical instrument embodimentcomprising a handle, a shaft, and an articulatable end effector;

FIG. 2 is a perspective view of a manually-powered surgical instrumentembodiment comprising a handle, a shaft, and an articulatable endeffector;

FIG. 3 is a perspective view of a surgical instrument embodimentcomprising a housing, a shaft, and an articulatable end effector that isconfigured for use with a robotically-controlled system;

FIG. 4 is a perspective view of a robotically-controlled surgical systemembodiment;

FIG. 5 is a perspective view of an articulatable surgical end effectorembodiment;

FIG. 6 is an exploded perspective view of the articulatable surgical endeffector of FIG. 5 ;

FIG. 7 is a perspective view of an elongate channel of the surgical endeffector of FIGS. 5 and 6 ;

FIG. 8 is a top view of the elongate channel of FIG. 7 ;

FIG. 9 is a side elevational view of the elongate channel of FIGS. 7 and8 ;

FIG. 10 is a top view of an anvil of the surgical end effector of FIGS.5 and 6 ;

FIG. 11 is a side elevational view of the anvil of FIG. 10 ;

FIG. 12 is a cross-sectional view of the surgical end effector of FIGS.5 and 6 with the anvil in an open position;

FIG. 13 is a cross-sectional side view of the surgical end effector ofFIG. 12 with the anvil in a closed position and the firing member in anunfired starting position;

FIG. 14 is a perspective view of a firing beam guide assemblyembodiment;

FIG. 15 is a cross-sectional perspective view of the firing beam guideassembly of FIG. 14 ;

FIG. 16 is a partial perspective view of the surgical end effector ofFIGS. 11 and 12 ;

FIG. 17 is a top view of the surgical end effector of FIG. 16 ;

FIG. 18 is a perspective view of the surgical end effector of FIGS. 16and 17 articulated in a first direction “FD”;

FIG. 19 is a top view of the surgical end effector of FIG. 18 ;

FIG. 20 is a perspective view of the surgical end effector of FIGS. 16and 17 articulated in a second direction “SD”;

FIG. 21 is a top view of the surgical end effector of FIG. 20 ;

FIG. 22 is a diagrammatical comparison illustrating the ranges of motionof two surgical end effectors within a human pelvis area;

FIG. 23 is a side elevational view comparing the proximal dead zones(“PDZ’s”) of two surgical end effectors;

FIG. 24 is a perspective view of another articulatable surgical endeffector embodiment;

FIG. 25 is an exploded perspective view of the surgical end effector ofFIG. 24 ;

FIG. 26 is a partial perspective view of the surgical end effector ofFIGS. 24 and 25 ;

FIG. 27 is another partial perspective view of the surgical end effectorof FIGS. 24-26 articulated in a first direction (“FD”);

FIG. 28 is another perspective view of the surgical end effector of FIG.27 articulated in a second direction (“SD”);

FIG. 29 is a top view of the end effector of FIGS. 24 and 25 ;

FIG. 30 is another top view of the end effector of FIG. 29 articulatedin a first direction (“FD”);

FIG. 31 is another top view of the surgical end effector of FIG. 29articulated in a second direction (“SD”);

FIG. 32 is another top view of a portion of the surgical end effector ofFIG. 29 ;

FIG. 33 is an enlarged top view of a portion of the surgical endeffector of FIG. 32 ;

FIG. 34 is an enlarged top view of a portion of another surgical endeffector embodiment;

FIG. 35 is a perspective view of a portion of another surgicalinstrument embodiment;

FIG. 36 is a top view of the surgical instrument of FIG. 35 ;

FIG. 37 is another top view of the surgical instrument of FIGS. 35 and36 with the end effector thereof in an articulated orientation;

FIG. 38 is a perspective view of a portion of another surgicalinstrument embodiment;

FIG. 39 is a top view of the surgical instrument of FIG. 38 ;

FIG. 40 is another top view of the surgical instrument of FIGS. 38 and39 with the end effector thereof in an articulated orientation;

FIG. 41 is a perspective view of a portion of another surgicalinstrument embodiment;

FIG. 42 is an exploded assembly view of a portion of the surgicalinstrument of FIG. 41 ;

FIG. 43 is another exploded assembly view of a portion of the surgicalinstrument of FIGS. 41 and 42 ;

FIG. 44 is a top view of a portion of the surgical instrument of FIGS.41-43 ;

FIG. 45 is another top view of the surgical instrument of FIGS. 41-44with the end effector thereof in an articulated orientation;

FIG. 46 is a perspective view of a portion of another surgicalinstrument embodiment;

FIG. 47 is a top view of the surgical instrument of FIG. 46 ;

FIG. 48 is another top view of the surgical instrument of FIGS. 46 and47 with the end effector thereof in an articulated orientation;

FIG. 49 is a perspective view of a portion of another surgicalinstrument embodiment;

FIG. 50 is a top view of the surgical instrument of FIG. 49 ;

FIG. 51 is another top view of the surgical instrument of FIGS. 49 and50 with the end effector thereof in an articulated orientation;

FIG. 52 is a partial perspective view of a firing beam support assemblyembodiment;

FIG. 53 is a perspective view of a portion of a surgical instrumentembodiment;

FIG. 54 is an exploded assembly view of a portion of the surgicalinstrument of FIG. 53 ;

FIG. 55 is a perspective view of a proximal end connector portion of anelongate channel of an end effector embodiment;

FIG. 56 is a top view of a portion of the surgical instrument of FIGS.53-55 ;

FIG. 57 is another top view of the surgical instrument of FIGS. 53-56with the end effector thereof in an articulated orientation;

FIG. 58 is a perspective view of the articulated surgical instrument ofFIG. 57 ;

FIG. 59 is a perspective view of a portion of another surgicalinstrument embodiment;

FIG. 60 is an exploded assembly view of a portion of the surgicalinstrument of FIG. 59 ;

FIG. 61 is a top view of a portion of the surgical instrument of FIGS.59 and 60 ;

FIG. 62 is a top view of the surgical instrument of FIGS. 59-61 with theend effector thereof in an articulated orientation;

FIG. 63 is a perspective view of the surgical instrument of FIG. 62 ;

FIG. 64 is a perspective view of a firing beam guide assemblyembodiment;

FIG. 65 is a perspective view of another firing beam guide assemblyembodiment;

FIG. 66 is a bottom perspective view of the firing beam guide assemblyof FIG. 65 ;

FIG. 67 is a cross-sectional perspective view of the firing beam guideassembly of FIGS. 65 and 66 ;

FIG. 68 is a perspective view of another firing beam guide assemblyembodiment;

FIG. 69 is an exploded assembly view of the firing beam guide assemblyof FIG. 68 ;

FIG. 70 is a perspective view of another firing beam guide assemblyembodiment;

FIG. 71 is a perspective view of another firing beam guide assemblyembodiment;

FIG. 72 is a perspective view of another surgical instrument embodiment;

FIG. 73 is a cross-sectional perspective view of a portion of theinterchangeable shaft assembly of the surgical instrument of FIG. 72 ;

FIG. 74 is a partial perspective view of a portion of theinterchangeable shaft assembly of FIG. 72 ;

FIG. 75 is an exploded assembly view of a portion of the interchangeableshaft assembly of FIGS. 72-74 ;

FIG. 76 is a partial cross-sectional view of the interchangeable shaftassembly of FIGS. 72-75 ;

FIG. 77 is another partial cross-sectional view of the interchangeableshaft assembly of FIGS. 72-76 ;

FIG. 78 shows side elevational views of the end effector of the surgicalinstrument of FIG. 72 with the anvil in an open position and a closedposition;

FIG. 79 is a top view of a portion of the surgical instrument of FIG. 72; and

FIG. 80 is another top view of the surgical instrument of FIG. 79 withthe end effector thereof in an articulated position.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate certain embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entireties:

-   U.S. Pat. application Ser. No. 13/782,295, entitled ARTICULATABLE    SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL    COMMUNICATION, now U.S. Pat. No. 9,700,309;-   U.S. Pat. application Ser. No. 13/782,323, entitled ROTARY POWERED    ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.    9,782,169;-   U.S. Pat. application Ser. No. 13/782,338, entitled THUMBWHEEL    SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Pat.    Application Publication No. 2014/0249557;-   U.S. Pat. application Ser. No. 13/782,499, entitled    ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now    U.S. Pat. No. 9,358,003;-   U.S. Pat. application Ser. No. 13/782,460, entitled MULTIPLE    PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S.    Pat. No. 9,554,794;-   U.S. Pat. application Ser. No. 13/782,358, entitled JOYSTICK SWITCH    ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,326,767;-   U.S. Pat. application Ser. No. 13/782,481, entitled SENSOR    STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S.    Pat. No. 9,468,438;-   U.S. Pat. application Ser. No. 13/782,518, entitled CONTROL METHODS    FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS, now U.S.    Pat. Application Publication No. 2014/0246475;-   U.S. Pat. application Ser. No. 13/782,375, entitled ROTARY POWERED    SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now U.S. Pat.    No. 9,398,911; and-   U.S. Pat. application Ser. No. 13/782,536, entitled SURGICAL    INSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entireties:

-   U.S. Pat. application Ser. No. 13/803,097, entitled ARTICULATABLE    SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Pat. No.    9,687,230;-   U.S. Pat. application Ser. No. 13/803,193, entitled CONTROL    ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S.    Pat. No. 9,332,987;-   U.S. Pat. application Ser. No. 13/803,053, entitled INTERCHANGEABLE    SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now U.S. Pat.    No. 9,883,860;-   U.S. Pat. application Ser. No. 13/803,086, entitled ARTICULATABLE    SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. Pat.    Application Publication No. 2014/0263541;-   U.S. Pat. application Ser. No. 13/803,210, entitled SENSOR    ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL    INSTRUMENTS, now U.S. Pat. No. 9,808,244;-   U.S. Pat. application Ser. No. 13/803,148, entitled MULTI-FUNCTION    MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,470,762;-   U.S. Pat. application Ser. No. 13/803,066, entitled DRIVE SYSTEM    LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat.    No. 9,629,623;-   U.S. Pat. application Ser. No. 13/803,117, entitled ARTICULATION    CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat.    No. 9,351,726;-   U.S. Pat. application Ser. No. 13/803,130, entitled DRIVE TRAIN    CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat.    No. 9,351,727; and-   U.S. Pat. application Ser. No. 13/803,159, entitled METHOD AND    SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Pat. No.    9,888,919.

Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

U.S. Pat. application Ser. No. 14/200,111, entitled CONTROL SYSTEMS FORSURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entireties:

-   U.S. Pat. application Ser. No. 14/226,106, entitled POWER MANAGEMENT    CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. Application    Publication No. 2015/0272582;-   U.S. Pat. application Ser. No. 14/226,099, entitled STERILIZATION    VERIFICATION CIRCUIT, now U.S. Pat. No. 9,826,977;-   U.S. Pat. application Ser. No. 14/226,094, entitled VERIFICATION OF    NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now U.S. Pat.    Application Publication No. 2015/0272580;-   U.S. Pat. application Ser. No. 14/226,117, entitled POWER MANAGEMENT    THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL, now    U.S. Pat. No. 10,013,049;-   U.S. Pat. application Ser. No. 14/226,075, entitled MODULAR POWERED    SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now U.S. Pat.    No. 9,743,929;-   U.S. Pat. application Ser. No. 14/226,093, entitled FEEDBACK    ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS, now    U.S. Pat. No. 10,028,761;-   U.S. Pat. application Ser. No. 14/226,116, entitled SURGICAL    INSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Pat. Application    Publication No. 2015/0272571;-   U.S. Pat. application Ser. No. 14/226,071, entitled SURGICAL    INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S. Pat.    No. 9,690,362;-   U.S. Pat. application Ser. No. 14/226,097, entitled SURGICAL    INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Pat. No.    9,820,738;-   U.S. Pat. application Ser. No. 14/226,126, entitled INTERFACE    SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S. Pat. No.    10,004,497;-   U.S. Pat. application Ser. No. 14/226,133, entitled MODULAR SURGICAL    INSTRUMENT SYSTEM, now U.S. Pat. Application Publication No.    2015/0272557;-   U.S. Pat. application Ser. No. 14/226,081, entitled SYSTEMS AND    METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Pat. No.    9,804,618;-   U.S. Pat. application Ser. No. 14/226,076, entitled POWER MANAGEMENT    THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION, now U.S.    Pat. No. 9,733,663;-   U.S. Pat. application Ser. No. 14/226,111, entitled SURGICAL    STAPLING INSTRUMENT SYSTEM, now U.S. Pat. No. 9,750,499; and-   U.S. Pat. application Ser. No. 14/226,125, entitled SURGICAL    INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Pat. No.    10,201,364.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entireties:

-   U.S. Pat. application Ser. No. 14/479,103, entitled CIRCUITRY AND    SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Pat. No. 10,111,679;-   U.S. Pat. application Ser. No. 14/479,119, entitled ADJUNCT WITH    INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S. Pat. No.    9,724,094;-   U.S. Pat. application Ser. No. 14/478,908, entitled MONITORING    DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Pat. No.    9,737,301;-   U.S. Pat. application Ser. No. 14/478,895, entitled MULTIPLE SENSORS    WITH ONE SENSOR AFFECTING A SECOND SENSOR’S OUTPUT OR    INTERPRETATION, now U.S. Pat. No. 9,757,128;-   U.S. Pat. application Ser. No. 14/479,110, entitled USE OF POLARITY    OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE, now U.S.    Pat. No. 10,016,199;-   U.S. Pat. application Ser. No. 14/479,098, entitled SMART CARTRIDGE    WAKE UP OPERATION AND DATA RETENTION, now U.S. Pat. No. 10,135,242;-   U.S. Pat. application Ser. No. 14/479,115, entitled MULTIPLE MOTOR    CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Pat. No. 9,788,836; and-   U.S. Pat. application Ser. No. 14/479,108, entitled LOCAL DISPLAY OF    TISSUE PARAMETER STABILIZATION, now U.S. Pat. Application    Publication No. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entireties:

-   U.S. Pat. application Ser. No. 14/248,590, entitled MOTOR DRIVEN    SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. Pat.    No. 9,826,976;-   U.S. Pat. application Ser. No. 14/248,581, entitled SURGICAL    INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED    FROM THE SAME ROTATABLE OUTPUT, now U.S. Pat. No. 9,649,110;-   U.S. Pat. application Ser. No. 14/248,595, entitled SURGICAL    INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF    THE SURGICAL INSTRUMENT, now U.S. Pat. No. 9,844,368;-   U.S. Pat. application Ser. No. 14/248,588, entitled POWERED LINEAR    SURGICAL STAPLER, now U.S. Pat. No. 10,405,857;-   U.S. Pat. application Ser. No. 14/248,591, entitled TRANSMISSION    ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,149,680;-   U.S. Pat. application Ser. No. 14/248,584, entitled MODULAR MOTOR    DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING    ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, now U.S. Pat.    No. 9,801,626;-   U.S. Pat. application Ser. No. 14/248,587, entitled POWERED SURGICAL    STAPLER, now U.S. Pat. No. 9,867,612;-   U.S. Pat. application Ser. No. 14/248,586, entitled DRIVE SYSTEM    DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Pat. No.    10,136,887; and-   U.S. Pat. application Ser. No. 14/248,607, entitled MODULAR MOTOR    DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, now    U.S. Pat. No. 9,814,460.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entireties:

-   U.S. Provisional Pat. Application Ser. No. 61/812,365, entitled    SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE    MOTOR;-   U.S. Provisional Pat. Application Ser. No. 61/812,376, entitled    LINEAR CUTTER WITH POWER;-   U.S. Provisional Pat. Application Ser. No. 61/812,382, entitled    LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;-   U.S. Provisional Pat. Application Ser. No. 61/812,385, entitled    SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR    CONTROL; and-   U.S. Provisional Pat. Application Ser. No. 61/812,372, entitled    SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE    MOTOR.

Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014 which are each hereinincorporated by reference in their respective entireties:

-   U.S. Pat. application Ser. No. 14/574,478, entitled SURGICAL    INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND    MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now U.S.    Pat. No. 9,844,374;-   U.S. Pat. application Ser. No. 14/574,483, entitled SURGICAL    INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Pat. No.    10,188,385;-   U.S. Pat. application Ser. No. 14/575,139, entitled DRIVE    ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat.    No. 9,844,375;-   U.S. Pat. application Ser. No. 14/575,148, entitled LOCKING    ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE    SURGICAL END EFFECTORS, now U.S. Pat. No. 10,085,748;-   U.S. Pat. application Ser. No. 14/575,143, entitled SURGICAL    INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Pat. No.    10,004,501;-   U.S. Pat. application Ser. No. 14/575,117, entitled SURGICAL    INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM    SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,943,309;-   U.S. Pat. application Ser. No. 14/575,154, entitled SURGICAL    INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING    BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,968,355;-   U.S. Pat. application Ser. No. 14/574,493, entitled SURGICAL    INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, now    U.S. Pat. No. 9,987,000; and-   U.S. Pat. application Ser. No. 14/574,500, entitled SURGICAL    INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now    U.S. Pat. No. 10,117,649.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” referring to the portion closest to the clinicianand the term “distal” referring to the portion located away from theclinician. It will be further appreciated that, for convenience andclarity, spatial terms such as “vertical”, “horizontal”, “up”, and“down” may be used herein with respect to the drawings. However,surgical instruments are used in many orientations and positions, andthese terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or “end effector” portions of the instruments can beinserted directly into a patient’s body or can be inserted through anaccess device that has a working channel through which the end effectorand elongated shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich first jaw is pivotable relative to the second jaw. The surgicalstapling system further comprises an articulation joint configured topermit the end effector to be rotated, or articulated, relative to theshaft. The end effector is rotatable about an articulation axisextending through the articulation joint. Other embodiments areenvisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

FIG. 1 illustrates an exemplary motor driven (or “powered”) surgicalinstrument 10 which includes a housing 20, an elongate shaft assembly100 and an end effector 200 that is operably connected to the elongateshaft assembly 100. The end effector 200 as shown is configured to actas an endocutter for clamping, severing and stapling tissue. However, itwill be appreciated that various embodiments may include end effectorsconfigured to act as other surgical devices including, for example,graspers, cutters, staplers, clip appliers, access devices, drug/genetherapy delivery devices, ultrasound, RF, and/or laser energy devices,etc. As indicated above and will be describe further below, variousportions of the surgical instrument 10 are motor driven. Further detailsregarding many aspects of the motor driven components of surgicalinstrument 10 may be found, for example, in U.S. Pat. application Ser.No. 13/803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING ANARTICULATION LOCK, U.S. Pat. Application Publication No. 2014/0263541,which has been incorporated by reference in its entirety herein.However, it will be understood that the various end effectorarrangements disclosed herein may also be effectively employed inconnection with hand-held housings (handles) that contain “manuallyoperable” (i.e. not powered by motor(s)) firing and closure systems suchas those disclosed in the aforementioned incorporated U.S. Pat.Application Publication No. 2014/0263541. For example, FIG. 2illustrates the end effector 200 attached to an elongate shaft assembly100′ that is operably attached to a housing 20′ of a surgical instrument10′ that operably supports manually operable closure and firing systems.

It will also be appreciated that various arrangements disclosed hereinmay be effectively employed in connection with robotically-controlledsurgical systems. For example, various arrangements disclosed herein maybe employed with various robotic systems, instruments, components andmethods disclosed in U.S. Pat. application Ser. No. 13/118,241, entitledSURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS, now U.S. Pat. No. 9,072,535, which is hereby incorporatedby reference in its entirety herein. For example, FIG. 3 depicts asurgical instrument 10″ that is well-adapted for use with a roboticsystem such as the robotic system 13 depicted in FIG. 4 . The surgicalinstrument 10″ includes an end effector 200 that is operably attached toan elongate shaft assembly 100″ that is coupled to a housing 20″ in theform of a tool drive assembly. FIG. 4 , illustrates a robotic arm cart15 that is configured to actuate a plurality of surgical tools such assurgical tools 10″. The robotic arm cart 15 and the surgical tools 10″may be controlled by a master controller 17 that is operably coupled(directly or wirelessly) thereto. Various details concerning theoperation of robotic system components and various tool drive assembliesmay be found in the aforementioned incorporated U.S. Pat. ApplicationPublication No. 2012/0298719, as well as in U.S. Pat. No. 6,132,368,entitled MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD, U.S. Pat. No.5,878,193, entitled AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING,U.S. Pat. No. 5,792,135, entitled ARTICULATED SURGICAL INSTRUMENT FORPERFORMING MINIMALLY INVASIVE SURGERY WITH ENHANCED DEXTERITY ANDSENSITIVITY, U.S. Pat. No. 6,231,565, entitled ROBOTIC ARM DLUS FORPERFORMING SURGICAL TASKS, U.S. Pat. No. 6,783,524, entitled ROBOTICSURGICAL TOOL WITH ULTRASOUND CAUTERIZING AND CUTTING INSTRUMENT, U.S.Pat. No. 6,364,888, entitled ALIGNMENT OF MASTER AND SLAVE IN AMINIMALLY INVASIVE SURGICAL APPARATUS, U.S. Pat. No. 7,524,320, entitledMECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS, U.S.Pat. No. 7,691,098, entitled PLATFORM LINK WRIST MECHANISM, U.S. Pat.No. 7,806,891, entitled REPOSITIONING AND REORIENTATION OF MASTER/SLAVERELATIONSHIP IN MINIMALLY INVASIVE TELESURGERY, and U.S. Pat. No.7,824,401, entitled ROBOTIC TOOL WITH WRISTED MONOPOLAR ELECTROSURGICALEND EFFECTORS, the entire disclosures of which are each herebyincorporated by reference herein.

Thus, as used herein, the term “housing” may also encompass a housing orsimilar portion of a robotic system that houses or otherwise operablysupports at least one drive system that is configured to generate andapply at least one control motion which could be used to actuate theinterchangeable shaft assemblies disclosed herein and their respectiveequivalents. The term “frame” may refer to a portion of a handheldsurgical instrument, e.g., a “handle”. The term “frame” may alsorepresent a portion of a robotically-controlled surgical instrumentand/or a portion of the robotic system that may be used to operablycontrol a surgical instrument.

It should be appreciated that spatial terms such as vertical,horizontal, right, left, etc. are given herein with reference to theFigures assuming that the longitudinal or “shaft axis” of the surgicalinstrument 10 (or of the other surgical instrument examples disclosedherein) is co-axial to the central axis of the shaft 100. In actualpractice, however, any of the surgical instruments disclosed herein maybe oriented at various angles and as such these spatial terms are usedrelative to the surgical instrument itself. Further, for a hand-heldhousing, “proximal” is used to denote a perspective of a clinician whois behind the handle who places the end effector distal, or away fromhim or herself. As used herein, the phrase, “substantially transverse tothe longitudinal axis” where the “longitudinal axis” is the axis of theshaft, refers to a direction that is nearly perpendicular to thelongitudinal axis. It will be appreciated, however, that directions thatdeviate some from perpendicular to the longitudinal axis are alsosubstantially transverse to the longitudinal axis.

As can be seen in FIG. 1 , the end effector 200 is pivotally connectedto the shaft 100 at articulation joint 109. A variety of articulationjoints and control systems are disclosed in various patents and patentapplications that have been incorporated by reference herein. Otherarticulation joints and articulation systems are disclosed in U.S. Pat.No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS and U.S. Pat. No.7,670,334, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING ENDEFFECTOR, the entire disclosures of which are hereby incorporated byreference herein. Various other means for articulating the end effector200 are discussed in greater detail below.

Referring to FIGS. 5 and 6 , the end effector 200 includes, among otherthings, an elongate channel 210 that is configured to operably support astaple cartridge 230 therein. The staple cartridge 230 includes acartridge body 232 that has a centrally-disposed, elongate cartridgeslot 234 therein (FIG. 6 ). In the illustrated arrangement, the staplecartridge 230 has three rows 238 of staple pockets 236 on each side ofthe elongate cartridge slot 234. One or more surgical staples 242 aresupported on corresponding staple drivers 240 that are movably supportedin the staple pockets 236. A cartridge pan 215 is attached to the bottomof the cartridge body 232. The cartridge pan 215 includes a pan slot 217that is aligned with the cartridge slot 234 and a channel slot 212 inthe elongate channel 210. See FIG. 6 .

The surgical instrument 10 further includes a firing member 300 that isattached to a firing beam 310 that interfaces with a firing system thatis supported in the housing 20, 20′ or 20″. The firing system may bepowered by a motor arrangement supported in the handle 20 (FIG. 1 ) orit may be manually operated by actuating a firing trigger 26′ (FIG. 2 )or it may be powered by the robotic system 13 (FIG. 4 ). Whicheverarrangement is employed, upon actuation, the firing system will apply anaxial firing motion to the firing beam 310 to drive the firing member300 in the distal direction “DD”. As can be seen in FIG. 6 , the firingmember 300 includes a vertically-extending firing member body 302 thathas a tissue cutting surface or blade 304 thereon. A first firing membertab 306 protrudes from a first lateral side 305 of the firing memberbody 302 and a second firing member tab 308 protrudes from a secondlateral side 307 of the firing member body 302. In addition, a firstmiddle tab (not shown) protrudes from the first lateral side 305 of thefiring member body 302 and a second middle tab 309 protrudes from thesecond lateral side 307 of the firing member body 302. The firing member300 further includes a tab or foot 312 that protrudes laterally from thebottom of the firing member body 302. The purpose of the tabs 306, 308,309 and foot 312 will be discussed in further detail below. In addition,a wedge sled 320 may be mounted within the cartridge body 232 fordriving contact with the firing member 300. As the firing member 300 isdriven distally through the cartridge body 232, the wedge surfaces 322contact the staple drivers 240 to actuate the drivers 240 and thesurgical staples 242 supported thereon upwardly in the cartridge body232.

The end effector 200 further includes an anvil 250 that includes ananvil body 252 that has a staple forming undersurface 254 thereon. Theanvil 250 also includes an anvil mounting portion 260 for pivotallycoupling the anvil 250 to the proximal end portion 211 of the elongatechannel 210 for pivotal travel relative thereto about a non-movableanvil axis A-A. As can be most particularly seen in FIGS. 6 and 10 , theanvil mounting portion 260 in the illustrated arrangement comprises aproximally protruding first anvil arm 262 that includes an inwardlyextending first anvil trunnion 264. The illustrated anvil mountingportion 260 further comprises a proximally protruding second anvil arm266 that is spaced from the first anvil arm 262. A second anvil trunnion268 protrudes inwardly from the second anvil arm 266. The first anviltrunnion 264 is rotatably supported in a first trunnion hole 214 that isprovided in the proximal end portion 211 of the elongate channel 210(FIG. 8 ) and the second anvil trunnion 268 is rotatably received in asecond trunnion hole 216 (FIGS. 3, 7, 8 and 9 ) in the proximal endportion 211 of the elongate channel 210. The first and second trunnionholes 214, 216 serve to define the non-movable anvil axis A-A which istransverse to the longitudinal shaft axis SA-SA. When the first anviltrunnion 264 is rotatably received with the first trunnion hole 214 andthe second anvil trunnion 268 is received in the second anvil trunnionhole 216, the anvil 250 is movable relative to the elongate channel 210such that the distal end 253 of the anvil 250 can be selectively movedtoward and away from the elongate channel 210.

Referring to FIGS. 3, 10 and 11 , the anvil mounting portion 260includes a closure ramp portion 270. The closure ramp portion 270includes a first ramp segment 272 and a second ramp segment 274 that isspaced from the first ramp segment 272 to form a firing member stagingopening 280 therebetween. See FIGS. 10, 12 and 13 . As can be seen inFIG. 12 , the top portion of the firing member 300 may extend into thestaging opening 280 when the anvil 250 is in an open position and thefiring member 300 is in a starting or unfired position. When the anvil250 is closed as shown in FIG. 13 , the top of the firing member 300extends through the staging opening 280. Referring to FIG. 10 , anelongate anvil slot 290 is provided in the staple-forming undersurface254 of the anvil 250. In addition, a first closure ledge 292 and asecond closure ledge 294 are formed on the lateral sides of the anvilslot 290. A first closure ledge ramp 273 is provided in the closure rampportion 270 and leads onto the first closure ledge 292 and a secondclosure ledge ramp 275 is provided in the closure ramp portion 270 andleads onto the second closure ledge 294.

The anvil 250 is moved to an open position (FIG. 12 ) by a spring (notshown) that biases the anvil mounting 260 portion upward relative to theproximal end 211 of the elongate channel 210 so the staple formingundersurface 254 of the anvil 250 is spaced from the surgical staplecartridge 230. The distal end 253 of the anvil 250 is moved toward thesurgical staple cartridge 230 to closed positions relative thereto byactuating a closure system that axially advances a closure member 110distally into contact with the closure ramp portion 270. In theillustrated embodiment, for example, the closure member 110 comprises aclosure tube assembly 120 that is axially movable in response to closuremotions generated by closure system supported in the housing. Theclosure system may be powered by a motor arrangement supported in thehandle 20 or it may be manually operated by actuating a closure trigger28 (FIG. 1 ) or 28′ (FIG. 2 ) or it may be powered by the robotic system13 (FIG. 4 ). Whichever arrangement is employed, actuation of theclosure system will cause an axial closure motion to be applied to theclosure tube assembly 120 of the shaft assembly 100. FIG. 12 illustratesthe position of the closure tube assembly 120 prior to actuation of theclosure system. As the closure tube assembly 120 is driven in the distaldirection, “DD”, the distal end 122 of the closure tube assembly 120contacts the closure ramp portion 270 of the anvil mounting portion 260and pivots the anvil 250 such that the distal end 253 thereof movestoward the surgical staple cartridge 230. FIG. 13 illustrates theposition of the closure tube assembly 120 in a “fully closed” position.Once the anvil 250 is moved into the fully closed position, the firingsystem may be actuated to axially drive the firing member 300 from theunactuated or starting position shown in FIGS. 12 and 13 distallythrough the staple cartridge 230 to cut tissue clamped between thestaple forming undersurface 254 of the anvil 250 and the staplecartridge 230. As the firing member 300 moves distally, the first tab306 moves up the first closure ramp 273 onto the first closure ledge 292and the second tab 308 moves up the second closure ramp 275 onto thesecond closure ledge 294 in the anvil 250. The middle tabs 309 slide onthe upper surface of elongate channel 210 and the foot 312 rides on thebottom surface 223 of the elongate channel 210. The first and secondtabs 306, 308 on the first and second closure ledges 292, 294 as well asthe middle tabs 309 and foot 312 serve to space the staple formingundersurface 254 of the anvil 250 at a desired spacing “S” from theupper surface or cartridge deck of the surgical staple cartridge. SeeFIG. 13 .

As can be seen in FIG. 5 , in the illustrated example, the end effector200 is selectively articulatable about articulation axis B-B that istransverse to a shaft axis SA-SA that is defined by the elongate shaftassembly 100. In the illustrated arrangement, the closure tube assembly120 includes a proximal closure tube shaft segment 123 that extends tothe housing 20, 20′, 20″ and operably interfaces with the closure systemsupported therein. The proximal closure tube segment 123 is pivotallycoupled to a distal closure tube segment 130. As can be seen in FIG. 6 ,for example, the proximal closure tube segment 123 includes upper andlower distally projecting tangs 124, 126. The distal closure tubesegment 130 includes proximally projecting upper and lower tangs 132,134. An upper double pivot link 140 includes upwardly projecting distaland proximal pivot pins 142, 144 that engage respectively an upperdistal pin hole 133 in the upper proximally projecting tang 132 and anupper proximal pin hole 125 in the upper distally projecting tang 124. Alower double pivot link 150 includes downwardly projecting distal andproximal pivot pins 152, 154 that engage respectively a lower distal pinhole (not shown) in the proximally protruding tang 134 and the pin hole127 in the distally protruding tang 126.

In the illustrated arrangement, as well as the alternative arrangements,the elongate shaft assembly 100 further includes a frame assembly orspine assembly or restraining assembly generally designated as 159. Inone arrangement, for example, the frame assembly 159 includes a proximalframe portion 160 and a distal frame portion 170. The proximal frameportion 160 is configured to movably support the firing beam 310 thereinand extends back to the housing 20, 20′, 20″, whichever the case may be.The proximal end (not shown) of the proximal frame portion 160 mayoperably interface with a corresponding control system that mayfacilitate rotation of the frame assembly 159 (and the end effector 200coupled thereto) about the shaft axis SA-SA. Further details regardingthe construction and operation of such control systems may be found invarious references that have been incorporated by reference herein. Ascan be seen in FIG. 6 , the distal frame portion 170 includes a pivotpin 172 that is rotatably received within a pivot aperture 220 definedin the proximal end 211 of the elongate channel 210. The pivot aperture220 defines the articulation axis B-B about which the pivot pin 172 maypivot. Stated another way, the elongate channel 210 may pivot about thepivot pin 172 and around articulation axis B-B when an articulationmotion is applied to the elongate channel 210. Still referring to FIG. 6, the proximal end 211 of the elongate channel 210 includes a drive pin222 that is configured to be operably engaged with an articulationdriver. The drive pin 222 is configured to receive a force appliedthereto by an articulation driver system 500 and, depending on thedirection in which the force is applied to the drive pin 222, causes theend effector 200 to articulate in a first direction “FD” or a second,opposite, direction “SD”.

The illustrated articulation driver system 500 may be similar to thearticulation driver system disclosed in U.S. Pat. ApplicationPublication No. 2014/0263541 which has been incorporated by reference inits entirety herein. In one form, for example, the articulation driversystem 500 includes a proximal articulation driver 510 and a distalarticulation driver 520. See FIG. 6 . As discussed in the aforementionedincorporated reference, the proximal articulation driver 510 issupported for selective axial travel in the distal and proximaldirections in response to articulation control motions applied theretoby an articulation control system. The articulation control system may,for example, be operably supported in the housing 20, 20′, 20″,whichever the case may be. When a drive or articulation control motionis transmitted to the proximal articulation driver 510, whether it is inthe proximal direction or the distal direction, the drive force can betransmitted to the distal articulation driver 520 through anarticulation lock 550, as was described in detail in the aforementionedincorporated reference. Further details regarding the operation of thedistal articulation lock 550 may be gleaned from review of thatreference and, for the sake of brevity, will not be repeated herein.

As discussed in further detail in the aforementioned incorporatedreference, movement of the proximal articulation driver 510, whether itbe proximal or distal, can unlock the articulation lock 550 that isoperably supported in the distal articulation driver and the distalframe portion 170. In the arrangement depicted in FIG. 6 , for example,the distal articulation driver 520 includes a distally-extending portion522 that is pivotally coupled to an intermediate link 524 for relativepivotal travel about an intermediate axis IA-IA. See FIG. 6 . Althoughnot specifically shown in FIG. 6 , the distally protruding portion 522includes a downwardly extending proximal pin that is pivotally receivedwithin a proximal pivot hole in the intermediate link 524. The distalend of the intermediate link 524 includes a distal pivot hole 526 forreceipt of the drive pin 222 therein. Actuation of the proximalarticulation driver 510 will ultimately result in the articulation ofthe elongate channel 210 through the distal articulation driver and thearticulation lock 550. For example, an initial proximal movement of theproximal articulation driver 510 can unlock the proximal movement of thedistal articulation driver 520 and the articulation lock 550 while afurther proximal movement of the proximal articulation driver 510 candrive the distal articulation driver 520 and the articulation lock 550proximally. Similarly, an initial distal movement of the proximalarticulation driver 510 can unlock the distal movement of the distalarticulation driver 520 and the articulation lock 550 while a furtherdistal movement of the proximal articulation driver 510 can drive thedistal articulation driver 520 and the articulation lock 550 distally.

Still referring to FIG. 6 , for example, the firing beam 310 maycomprise a laminated structure. Such arrangement enables the firing beam310 to sufficiently flex when the end effector 200 is articulated aboutthe articulation axis B-B. The firing beam 310 is slidably supported ina firing bar slot 162 in the proximal frame portion 160. The distal endportion 164 of the proximal frame portion 160 is formed with two opposedradiused surfaces 166, 168 to provide added lateral support to thefiring beam 310 during articulation.

End effectors that employ firing beams or firing members and which arecapable of articulating over a range of, for example, forty five degreeshave numerous challenges to overcome. To facilitate operablearticulation of such end effectors, the firing member or firing beammust be sufficiently flexible to accommodate such range of articulation.However, the firing beam or firing member must also avoid buckling whileencountering the compressive firing loads. To provide additional supportto the firing beam or firing member various “support” or “blowout” platearrangements have been developed. Several of such arrangements aredisclosed in U.S. Pat. No. 6,964,363, entitled SURGICAL STAPLINGINSTRUMENT HAVING ARTICULATION JOINT SUPPORT PLATES FOR SUPPORTING AFIRING BAR and U.S. Pat. No. 7,213,736, entitled SURGICAL STAPLINGINSTRUMENT INCORPORATING AN ELECTROACTIVE POLYMER ACTUATED FIRING BARTRACK THROUGH AN ARTICULATION JOINT, the entire disclosures of eachbeing hereby incorporated by reference herein. Blowout plates thatprovide substantial buckle resistance also are difficult to bend ingeneral which adds to the forces the articulation joint system mustaccommodate.

FIGS. 14 and 15 illustrate a firing beam support assembly 600 in theform of a firing beam guide assembly 601 that is employed in theillustrated surgical instrument 10. As can be seen in those Figures, aswell as in FIG. 6 , the firing beam guide assembly 601 includes aproximal end 602 and a distal end 604 that are interconnected by firingbeam support members 606, 608 that are separated by a firing beam slot610 that extends through the proximal and distal ends 602, 604. In aplan view, the firing beam guide assembly 601 somewhat resembles an“I-beam” arrangement with a slot extending through the central web ofthe beam. As can be seen in FIG. 15 , for example, the firing beamsupport member 606 is “plate-like” or comprises a plate that includes aninwardly extending upper lip 607 and the firing beam support member 608is “plate-like” or comprises a plate that includes an inwardly extendingupper lip 609. The upper lips 607, 609 provide some bending strength tothe firing beam support members 606, 608 and may serve to prevent thefiring beam 310 from popping out of the top of the firing beam guideassembly 601 during flexing of the firing beam 310. The firing beamguide assembly 601 may be fabricated from, for example, glass-filledISOPLAST®, Nylon, glass-filled VECTRA®, etc. and be of integralconstruction. In other arrangements, the firing beam support members606, 608 may comprise components that are distinct from the proximal anddistal ends and are attached thereto by appropriate fastening techniquessuch as welding over-molding, etc.

As can be seen in FIG. 6 , the proximal end 602 of the firing beam guideassembly 601 is received within a proximal beam cavity 169 formed in thedistal end portion 164 of the proximal frame portion 160. The distal end604 of the firing beam guide assembly 601 is received within a distalbar cavity 224 formed in an upstanding support lug 1700 formed in theproximal end 211 of the elongate channel 210. To facilitate some axialmovement of the firing beam guide assembly 601 during articulation ofthe end effector 200, the proximal beam cavity 169 is sized relative tothe proximal end portion 602 of the firing beam support assembly 600 topermit some axial movement of the proximal end portion 602 therein.Similarly, the distal beam cavity 224 may be sized relative to thedistal end portion 604 of the firing beam guide assembly 601 tofacilitate axial movement of the firing beam guide assembly 601 relativeto the elongate channel 210 during articulation thereof. FIG. 17illustrates the end effector 200 in an unarticulated position whereinthe end effector 200 is essentially coaxial with the shaft assembly 100.This end effector position enables the end effector 200 and a portion ofthe elongated shaft assembly 100 to be inserted into the patient througha trocar, for example. FIGS. 18 and 19 illustrate the end effector 200articulated in a first direction “FD” and FIGS. 20 and 21 illustrate theend effector 200 articulated in an opposite, second direction “SD”.

End effectors such as those disclosed herein as well as those endeffectors disclosed in the previously incorporated U.S. Pat. ApplicationPublication No. US 2014/0263541 are often employed when performing alower anterior resection of the colon (“LAR”). LAR is a common surgeryfor rectal cancer and is occasionally performed to remove a diseased orruptured portion of the intestine in cases of diverticulitis. Theability to access the target portion(s) of the colon with these endeffectors during a LAR may be effected by the following factors: (i) thearticulation angle of the shaft, (ii) the distance from the articulationpivot or axis and the proximal-most staples (sometimes referred to asthe “proximal dead zone”), (iii) the distance from the distal-moststaples and the distal end of the end effector (sometimes referred to asthe “distal dead zone”), and (iv) the shaft diameter. FIG. 22 comparesthe range of motion within a pelvis contour of an end effector 200 asdisclosed herein to the range of motion of an end effector 200′ of thetype that includes an anvil that is pivotally coupled to the elongatechannel by a kidney slot arrangement as disclosed in the aforementionedincorporated U.S. Pat. Application Publication No. 2014/0263541. In oneend effector arrangement 200′, for example, the proximal dead zone PDZ″is approximately 1.54 inches long. Conversely, the proximal dead zonePDZ that may be attained in connection with at least one implementationof end effector 200 as disclosed herein may be reduced by, for example,0.320 inches. See FIG. 23 . Thus, PDZ<PDZ′. As can also be seen in thatFigure, the distance from the distal end 201 of the end effector to thearticulation axis A-A or pivot point is less than the distance from thedistal end 201′ of the end effector 200′ to the articulation axis B-B orpivot point by an amount of approximately 0.9 inches (length “L” in FIG.23 ) in at least one implementation, for example. Thus, themanipulability of end effector 200 presents a vast improvement of themanipulability of prior end effector arrangements. In addition, the endeffector 200 enjoys a marked increase of mechanical advantage (as muchas an increase of, for example, 300% in some cases) by moving the pivotor articulation axis more proximally and the closure member or fulcrummore distally. Such improvement of access will allow, for example, a 60mm endocutter to get almost 90 degrees to the colon creating asignificantly better perpendicular transection that may minimize itseffects of the subsequent circular stapler firing and therefore reducethe likelihood of leaks. By reducing the distance from the articulationjoint to the first or proximal-most staple will allow the endocutter tobe rotated more with respect to the pelvic girdle increasing itseffective access angle with respect to the colon for “deep” LARs.Additional moving from cam-channel to cam-tube architecture improves themechanical advantage of the system and thereby reduces the loadstransmitted back to the handle or housing and increases instrumentrobustness.

FIGS. 24-31 illustrate another surgical instrument 1010 that includes anend effector 1200 that is operably attached to an elongate shaftassembly 1100. The elongate shaft assembly 1100 may be operably coupledto any of the housings 20, 20′, 20″ as discussed above. The end effector1200 is pivotally connected to the elongate shaft assembly 1100 atarticulation joint 1109. The end effector 1200 includes, among otherthings, an elongate channel 1210 that is configured to operably supporta staple cartridge 1230 therein. See FIG. 25 . The staple cartridge 1230includes a cartridge body 1232 that has a centrally-disposed, elongatecartridge slot 1234 therein. In the illustrated arrangement, the staplecartridge 1230 has three rows 1238 of staple pockets 1236 on each sideof the elongate slot 1234. One or more staples 1242 are supported oncorresponding staple drivers 1240 that are movably supported in thestaple pockets 1236. A cartridge pan 1215 is attached to the bottom ofthe cartridge body 1232. The cartridge pan 1215 includes a pan slot 1217that is aligned with the cartridge slot 1234 and a channel slot 1212 inthe elongate channel 1210.

The surgical instrument 1010 further includes a firing member 1300 thatis attached to a firing beam 1310 that interfaces with a firing systemsupported in the housing 20, 20′ or 20″. The firing system may bepowered by a motor arrangement supported in the handle 20 (FIG. 1 ) orit may be manually operated by actuating a firing trigger 26′ (FIG. 2 )or it may be powered by the robotic system 13 (FIG. 4 ). Whicheverarrangement is employed, upon actuation, the firing system will apply anaxial firing motion to the firing beam 1310 to drive the firing member1300 in the distal direction “DD”. As can be seen in FIG. 25 , thefiring member 1300 includes a vertically-extending firing member body1302 that has a tissue cutting surface or blade 1304 thereon. A firstfiring member tab 1306 protrudes from a first lateral side 1305 of thefiring member body 1302 and a second firing member tab 1308 protrudesfrom a second lateral side 1307 of the firing member body 1302. Inadditional a first middle tab (not shown) protrudes from the firstlateral side 1305 of the firing member body 1302 and a second middle tab1309 protrudes from the second lateral side 1307 of the firing memberbody 1302. The firing member 1300 further includes a tab or foot 1312that protrudes laterally from the bottom of the firing member body 1302.The purpose of the tabs 1306, 1308, 1309 and foot 1312 will be discussedin further detail below. In addition, a wedge sled 1320 may be mountedwithin the cartridge body 1232 for driving contact with the firingmember 1300. As the firing member 1300 is driven distally through thecartridge body 1232, the wedge surfaces 1322 contact the staple drivers1240 to drive the drivers 1240 and the surgical staples 1242 supportedthereon upwardly in the cartridge body 1232 as is known.

The end effector 1200 further includes an anvil 1250 that includes ananvil body 1252 that has a staple forming undersurface 1254 thereon. Theanvil 1250 also includes an anvil mounting portion 1260 for pivotallycoupling the anvil 1250 to the proximal end portion 1211 of the elongatechannel 1210 for pivotal travel relative thereto. The anvil mountingportion 1260 includes two (only one can be seen in FIGS. 25-28 )laterally-extending anvil trunnions 1264. The anvil trunnions 1264 aremovably received within corresponding kidney slots 1214 that areprovided in the proximal end portion 1211 of the elongate channel 1210.Such arrangement enables the anvil 1250 to pivot relative to theelongate channel 1210 upon application of closing and opening motions tothe anvil mounting portion 1260. The anvil mounting portion 1260includes an upstanding anvil tab 1263 that operably interacts with ahorseshoe-shaped opening 1131 provided in a closure member 1110.

In the illustrated example, the closure member 1110 comprises a closuretube assembly 1120 that includes a distal closure tube segment 1130 inwhich the opening 1131 is provided. The closure tube assembly 1120includes a proximal closure tube shaft segment 1122 that extends to thehousing 20, 20′, 20″ and operably interfaces with the closure systemsupported therein. The proximal closure tube segment 1123 is pivotallycoupled to the distal closure tube segment 1130. As can be seen in FIG.25 , for example, the proximal closure tube segment 1123 includes upperand lower distally projecting tangs 1124, 1126. The distal closure tubesegment 1130 includes proximally projecting upper and lower tangs 1132,1134. An upper double pivot link 1140 includes upwardly projectingdistal and proximal pivot pins 1142, 1144 that engage respectively anupper distal pin hole 1133 in the upper proximally projecting tang 1132and an upper proximal pin hole 1125 in the upper distally projectingtang 1124. A lower double pivot link 1150 includes downwardly projectingdistal and proximal pivot pins 1152, 1154 that engage respectively alower distal pin hole (not shown) in the proximally protruding tang 1134and the pin hole 1127 in the distally protruding tang 1126. Movement ofthe distal closure tube 1130 in the distal direction “DD” will cause theanvil 1250 to pivot to a closed position relative to the surgical staplecartridge 1230 by virtue of the interaction between the opening 1131 inthe distal closure tube 1130 and the anvil tab 1263 and movement of thedistal closure tube 1130 in the proximal direction “PD” will pivot theanvil 1250 to an open position by virtue of the central tab 1137 in thedistal closure tube segment 1130. Movement of the distal closure tubesegment 1130 is controlled by a closure system that may be powered by amotor arrangement supported in the handle 20 or it may be manuallyoperated by actuating a closure trigger 28′ (FIG. 2 ) or it may bepowered by the robotic system 13 (FIG. 4 ).

The anvil 1250 may further have an anvil slot and closure ledges as wasdiscussed above with respect to anvil 250 for interaction with the tabs1306, 1308 as was also described above in detail. Once the anvil 1250 ismoved into the fully closed position, the firing system may be actuatedto axially drive the firing member 1300 from the unactuated or startingposition distally through the staple cartridge 1230 to cut tissueclamped between the staple forming undersurface 1254 of the anvil 1250and the staple cartridge 1230. As the firing member 1300 moves distally,the first tab 1306 movably engages the first closure ledge and thesecond tab 1308 movably engages the second closure ledge in the anvil1250. The middle tabs 1309 slide on the upper surface of elongatechannel 1210 and the foot 1312 rides on the bottom surface 1223 of theelongate channel 1210. The first and second tabs 1306, 1308 on the firstand second closure ledges as well as the middle tabs 1309 and foot 1312serve to space the staple forming undersurface 1254 of the anvil 2150 ata desired spacing from the upper surface or cartridge deck of thesurgical staple cartridge 1230.

As can be seen in FIGS. 24-26 , in the illustrated example, the endeffector 1200 is selectively articulatable about articulation axis B-Bthat is transverse to a shaft axis SA-SA that is defined by the elongateshaft assembly 1100. In the illustrated arrangement, the elongate shaftassembly 1100 further includes a frame assembly or spine assembly orrestraining assembly generally designated as 1159. In one arrangement,for example, the frame assembly 1159 includes a proximal frame portion1160 and a distal frame portion 1170. The proximal frame portion 1160 isconfigured to movably support the firing beam 1310 therein and extendsback to the housing 20, 20′, 20″, whichever the case may be. Theproximal end (not shown) of the proximal frame portion 1160 may operablyinterface with a corresponding control system that may facilitaterotation of the frame assembly 1159 (and the end effector 1200 coupledthereto) about the shaft axis SA-SA. Further details regarding theconstruction and operation of such control systems may be found invarious references that have been incorporated by reference herein.

As can be seen in FIG. 25 , the distal frame portion 1170 includes apivot pin 1172 that is rotatably received within a pivot aperture 1220defined in the proximal end 1211 of the elongate channel 1210. The pivotaperture 1120 defines the articulation axis B-B about which the pivotpin 1172 may pivot. Stated another way, the elongate channel 1210 maypivot about the pivot pin 1172 and around articulation axis B-B when anarticulation motion is applied to the elongate channel 1210. Stillreferring to FIG. 25 , the proximal end 1211 of the elongate channel1210 includes a drive pin 1222 that is configured to be operably engagedwith an articulation driver. The drive pin 1222 is configured to receivea force applied thereto by an articulation driver system 1500 and,depending on the direction in which the force is applied to the drivepin 1222, causes the end effector 1200 to articulate in a firstdirection or a second, opposite, direction about articulation axis B-B.

The illustrated articulation driver system 1500 may be similar to thearticulation driver system disclosed in U.S. Pat. ApplicationPublication No. 2014/0263541, which has been incorporated by referencein its entirety herein. In one form, for example, the articulationdriver system 1500 includes a proximal articulation driver 1510 and adistal articulation driver 1520. As discussed in the aforementionedincorporated reference, the proximal articulation driver 1510 issupported for selective axial travel in the distal and proximaldirections in response to articulation control motions applied theretoby an articulation control system. The articulation control system may,for example, be operably supported in the housing 20, 20′, 20″,whichever the case may be. When a drive or articulation control motionis transmitted to the proximal articulation driver 1510, whether it isin the proximal direction or the distal direction, the drive force canbe transmitted to the distal articulation driver 1520 through anarticulation lock 1550, as was described in detail in the aforementionedincorporated reference. Further details regarding the operation of thedistal articulation lock 1550 may be gleaned from review of thatreference and, for the sake of brevity, will not be repeated herein.

As discussed in further detail in the aforementioned incorporatedreference, movement of the proximal articulation driver 1510, whether itbe proximal or distal, can unlock the articulation lock 1550 that isoperably supported in the distal articulation driver and the distalframe portion 1170. In the arrangement depicted in FIG. 25 , forexample, an intermediate link 1524 is pivotally coupled to the distalarticulation driver 1520 for relative pivotal travel about anintermediate axis IA-IA. As can be seen in FIG. 25 , a pivot pin 1523 isformed in the distal articulation driver 1520 and extends into aproximal pivot hole 1525 in the intermediate link 1524. The distal endof the intermediate link 1524 includes a distal pivot hole 1526 forreceipt of the drive pin 1222 therein. Actuation of the proximalarticulation driver 1510 will ultimately result in the articulation ofthe elongate channel 1210 through the distal articulation driver and thearticulation lock 1550. For example, an initial proximal movement of theproximal articulation driver 1510 can unlock the proximal movement ofthe distal articulation driver 1520 and the articulation lock 1550 whilea further proximal movement of the proximal articulation driver 1510 candrive the distal articulation driver 1520 and the articulation lock 1550proximally. Similarly, an initial distal movement of the proximalarticulation driver 1510 can unlock the distal movement of the distalarticulation driver 1520 and the articulation lock 1550 while a furtherdistal movement of the proximal articulation driver 1510 can drive thedistal articulation driver 1520 and the articulation lock 1550 distally.

In arrangements that employ conventional blowout plates to providebuckle support to the firing beam, depending on the path of curvature(due to the articulation direction) only one of the blowout plates mayeffectively be doing any work. Thus, it may be advantageous in at leastsome applications to tie or couple the inside and outside blowout plates(or “firing beam support members”) together which would allow them toact as a couple rather than independently from each other. Sucharrangement may, for example, provide more than double the moment ofinertia of the outside plate alone, while still minimizing the overallforce to bend. In some arrangements, as will be described in furtherdetail below, the blowout plates (or firing beam support members) areconfigured such that they may move longitudinally with respect to eachother. Because neither member is on the centerline of the bend, forexample, one of the members has a longer path and the other member has ashorter path.

In the illustrated example, the surgical instrument 1010 furtherincludes a first firing beam support member 1610 and a second firingbeam support member 1620. The first and second firing beam supportmembers 1610, 1620 may each comprise a plate that is fabricated from,for example, stainless steel, spring steel, titanium, NITINOL™, etc. Ascan be seen in FIG. 25 the first firing beam support member 1610includes a proximal downwardly extending mounting tab 1612 and a distaldownwardly extending mounting tab 1614. The second firing beam supportmember 1620 includes similar proximal and distal downwardly extendingtabs (not viewable in FIG. 25 ). As can be seen in FIG. 26 , the firingbeam 1310 slidably extends between the first and second firing beamsupport members 1610, 1620. The distal ends of the first and secondfiring beam support members 1610, 1620 are slidably received within aslot 1702 formed in an upstanding support lug 1700 formed on theproximal end 1211 of the elongate channel 1210. FIGS. 27 and 30illustrate articulation of the end effector 1200 in a first direction“FD”. As can be seen in those Figures, the first firing beam supportmember 1610 moves slightly distal with respect to the second firing beamsupport member 1620 to provide bending support to the firing beam 1310during articulation. The mounting tabs may serve to limit the degree ofaxial movement of the firing beam support members. FIGS. 28 and 31illustrate articulation of the end effector 1200 in a second direction“SD”. As can be seen in those Figures, the second firing beam supportmember 1620 moves slightly distal with respect to the first firing beamsupport member 1610 to provide bending or buckling support to the firingbeam 1310 during articulation. As illustrated in FIGS. 30 and 31 , sucharrangement permits articulation of the end effector 1200 through rangesof approximately seventy five degrees (75°) to both sides of the shaftaxis SA-SA. In at least one arrangement, the slot 1702 is sized toprovide clearance between the firing beam support members 1610, 1610 andthe firing beam 1310 of approximately 0.05”-0.015” for example, tofacilitate sliding travel of the firing beam support members 1610, 1620within the slot 1702 and slidable travel of the firing beam 1310 duringfiring of the instrument (i.e., axial advancement in the distaldirection of the firing beam 1310). In one arrangement, for example, theslot 1702 may be 0.05”-0.065” wide (“W″), firing beam support members1610, 1620 may each have a thickness of approximately 0.008″-0.015”(“FBT”) and the firing beam 1310 may have a beam thickness ofapproximately 0.045” (“BT”). See FIG. 32 . As can be seen in FIG. 33 ,the proximal end 1704 of the slot 1702 flares outward to facilitatebending or flexing of the firing beam support members 1610, 1620 duringarticulation of the end effector 1200. The proximal end 1704 of the slot1702 has a proximal slot width “PW” of approximately 0.07″-0.08”, forexample. Other slot widths may also be employed. As such, in theillustrated example PT>PW. It will be understood that the firing beamsupport members 1610 and 1620 help to support the firing beam 1310during articulation of the end effector and serve to prevent the firingbeam 1310 from bucking under the compressive firing loads.

FIG. 34 illustrates a portion of another elongate channel 1210′ thatincludes an upstanding support lug 1700′ with a slot 1702′ therein forslidably receiving the firing beam support members 1610, 1620 (not shownin FIG. 34 ) in the manner described above. In this arrangement,however, a pair of opposed protrusions or detents 1706′ is formed in thesupport lug 1700′ such that the width of the proximal end of the slot1702 (“PW”) is less than the width of the slot 1702 (“W”) as shown. Thedistal exit of 1620 from 1160 is preferably tighter than the retainingslot which holds the “L” portion of the beam. This “tightening” servesto make the support plates behave like cantilever beams rather thanfloating pivot joints and can significantly increase the firing beamsupport that the plate provides to the firing beam. For example,comparing the cantilever arrangement to a “pivot” arrangement (loosefit), the cantilever arrangement is expected to provide a 4×-16× betterresistance which results in much lower deflection of the support plateright at the start.

Referring now to FIGS. 35-37 , the surgical instrument 1010′ showntherein is substantially identical to surgical instrument 1010 describedin detail above and employs firing beam support members 1610′ and 1620′to provide bucking support to the firing beam 1310 during articulationof end effector 1200. FIGS. 35 and 36 illustrate the positions of thefiring beam support members 1610′, 1620′ when the end effector is in anunarticulated position. FIG. 37 illustrates the end effector 1200 in anarticulated position. As can be seen in that Figure, the firing beamsupport members 1610′, 1620′ move longitudinally with respect to eachother during articulation. More specifically, as shown in that Figure,for example, the firing beam support member 1610′ on the short curveside

FIGS. 38-40 illustrate another surgical instrument 2010 that may be, forexample, identical to surgical instrument 1010 except for at least someof the differences discussed below. For example, surgical instrument2010 employs a firing beam support assembly, generally designated as2600 that comprises a first firing beam support member 2610 and a secondfiring beam support member 2620. The firing beam support members 2610,2620 each comprise a compression band arrangement that laterallysupports the firing beam 1310 during articulation while alsofacilitating axial movement of the firing beam 1310 therebetween duringfiring and retraction strokes thereof. More particularly, in onearrangement, the first firing beam support member 2610 comprises a firstcompression band 2612 that may comprise, for example, a band-like memberfabricated from spring steel or similar material. As can be seen inFIGS. 38-40 , the first compression band 2612 includes a first proximalmounting member 2614 in the form of a first proximal mounting tab 2615that is configured to be received within a mounting slot 1162 in theproximal frame portion 1160. In addition, the first proximal compressionband 2612 further includes a first distal mounting member 2616 in theform of a first distal mounting tab 2617 that is configured to bereceived within a first distal mounting slot 1710 in the upstandingsupport lug 1700 formed on the proximal end 1211 of the elongate channel1210. As can be most particularly seen in FIG. 39 , the first distalmounting slot 1710 has a first slot width “FSW” that is greater than thethickness of the first distal mounting tab 2617 to facilitate axialmovement of the first distal mounting tab 2617 within the first distalmounting slot 1710. In addition, the first compression band 2612includes a first spring portion or fold 2618 that is mountingly receivedwithin a first elongate cavity 1166 in the proximal frame portion 1160.

As can be further seen in FIG. 39 , the second firing beam supportmember 2620 comprises a second compression band 2622 that may comprise,for example, a band-like member fabricated from spring steel or similarmaterial. The second compression band 2622 includes a second proximalmounting member 2624 in the form of a second proximal mounting tab 2625that is configured to be received within a mounting slot 1164 in theproximal frame portion 1160. In addition, the second proximalcompression band 2622 further includes a second distal mounting member2626 in the form of a second distal mounting tab 2627 that is configuredto be received within a second distal mounting slot 1712 in the otherupstanding support lug 1700 formed on the proximal end 1211 of theelongate channel 1210. As can be most particularly seen in FIG. 39 , thesecond distal mounting slot 1712 has a second slot width “SSW” that isgreater than the thickness of the second distal mounting tab 2627 tofacilitate axial movement of the second distal mounting tab 2627 withinthe second distal mounting slot 1712. In addition, the secondcompression band 2622 includes a second spring portion or fold 2628 thatis mountingly received within a second elongate cavity 1168 in theproximal frame portion 1160. As can also be seen in FIGS. 38-40 , in theillustrated embodiment, the distal end 1161 of the proximal frameportion 1160 has opposed radiused surfaces 1163, 1165 that areconfigured to laterally support the firing beam support members 2610,2620 during articulation of the end effector 1200.

FIG. 39 illustrates the positions of the first and second compressionbands 2610, 2620 when the end effector 1200 is in an unarticulatedposition. When in that position, the first and second compression bands2610, 2620 apply opposing compression forces “CF” to the oppositelateral sides of the flexible firing beam 1310 while permitting axialtravel of the firing beam 1310 during firing and retraction strokes.When in that unarticulated position, each of the first and secondcompression bands 2610, 2620 have a first unarticulated length “CL1”,“CL2”, respectively. FIG. 40 illustrates the positions of the first andsecond compression bands 2610, 2620 when the end effector 1200 has beenarticulated in one articulation direction. As can be seen in thatFigure, the first compression band 2610 has elongated (CL3>CL1) and thesecond compression band 2620 has been compressed (CL4<CL2). The springportions 2618 and 2628 facilitate the elongation and compression of thecompression bands 6210, 2620 during articulation while also maintainingthe lateral compression forces on the firing beam 1310 to therebyprevent bucking of the firing beam 1310 as it is axially movedtherebetween.

FIGS. 41-45 illustrate another surgical instrument 2010 that may be, forexample, identical to surgical instrument 1010 except for at least someof the differences discussed below. For example, surgical instrument2010 employs a firing beam support assembly, generally designated as2700 that comprises a first firing beam support member 2710 and a secondfiring beam support member 2720. The firing beam support members 2710,2720 each comprise a compression band arrangement that laterallysupports the firing beam 1310 during articulation while alsofacilitating axial movement of the firing beam 1310 therebetween duringfiring and retraction strokes thereof. More particularly, in onearrangement the first firing beam support member 2710 comprises a firstcompression band 2712 that may comprise, for example, a band-like memberfabricated from spring steel or similar material. As can be seen in FIG.42 , the first compression band 2712 includes a first proximal mountingmember 2714 in the form of a first proximal mounting tab 2715 that isconfigured to be received within a first mounting slot 1162 in theproximal frame portion 1160. In addition, the first proximal compressionband 2712 further includes a first distal mounting member 2716 in theform of a first distal mounting tab 2717 that is configured to bereceived within a first distal mounting slot 1710 in the upstandingsupport lug 1700 formed on the proximal end portion 1211 of the elongatechannel 1210. As can be most particularly seen in FIG. 44 , the mountingslot 1162 in the proximal frame portion 1160 has a first slot width“FSW” that is greater than the thickness of the first proximal mountingtab 2715 to facilitate axial movement of the first distal mounting tab2715 within the first proximal mounting slot 1162.

As can be further seen in FIG. 44 , the second firing beam supportmember 2720 comprises a second compression band 2722 that may comprise,for example, a band-like member fabricated from spring steel or similarmaterial. The second compression band 2722 includes a second proximalmounting member 2724 in the form of a second proximal mounting tab 2725that is configured to be received within a mounting slot 1164 in theproximal frame portion 1160. In addition, the second proximalcompression band 2722 further includes a second distal mounting member2726 in the form of a second distal mounting tab 2727 that is configuredto be received within a second distal mounting slot 1712 in the otherupstanding support lug 1700 formed on the proximal end portion 1211 ofthe elongate channel 1210. As can be most particularly seen in FIG. 44 ,the second proximal mounting slot 1164 has a second slot width “SSW”that is greater than the thickness of the second proximal mounting tab2725 to facilitate axial movement of the second proximal mounting tab2725 within the second proximal mounting slot 1164. As can also be seenin FIGS. 41, 42 and 44 , in the illustrated embodiment, the distal end1161 of the proximal frame portion 1160 has opposed radiused surfaces1163, 1165 that are configured to laterally support the firing beamsupport members 2710, 2720 during articulation of the end effector 1200.

Still referring to FIGS. 41-45 , the surgical instrument 2010 furthercomprises a movable firing beam support assembly 2800 that is configuredto provide support to the compression bands 2712, 2722 duringarticulation of the end effector 1200. In the illustrated arrangement,the movable firing beam support assembly 2800 comprises a support bossassembly 2810 that is rotatably and laterally movable relative to acentrally disposed boss axis or support axis BA that is transverse tothe shaft axis SA-SA and parallel to the articulation axis B-B.Referring now to FIG. 42 , a support boss pin 1224 protrudes upwardlyfrom the distal end portion 1211 of the elongate channel 1210. In theillustrated arrangement, the support boss pin 1224 is concentricallylocated with respect to the pivot pin 1172 such that the boss axis BA iscoaxial with the articulation axis B-B. In one arrangement, for example,the support boss pin 1224 is integrally formed with the pivot pin 1172.

As can be further seen in FIG. 42 , in the illustrated arrangement, thesupport boss assembly 2810 includes a body portion 2812 that includes afirst support boss 2820 that is spaced from a second support boss 2830.The first support boss 2820 includes a first arcuate support surface2822 and the second support boss 2830 includes a second arcuate supportsurface 2832. The first arcuate support surface 2822 is spaced from thesecond arcuate support surface 2832 by a slot 2834 is sufficiently wideenough to receive the first firing beam support member 2710 and thesecond firing beam support member 2720 and the firing beam 1310 to passtherebetween while the first arcuate support surface remains intangential movable contact with the first firing beam support member2710 and the second arcuate support surface 2832 remains in tangentialmovable contact with the second firing beam support member 2720 duringarticulation of the end effector 1200. In addition, to facilitate suchcontact between the first arcuate support surface 2822 and the firstfiring beam support member 2710 and the second arcuate support surface2832 and the second firing beam support member 2720 during articulationof the end effector 1200, the support boss assembly 2810 is configuredto not only rotate about the boss axis BA-BA but to also move laterallyrelative to the boss axis BA-BA. For example, in the illustratedarrangement, a mounting cavity 2814 is formed in the body portion 2812to movably receive the support boss pin 1224 therein. See FIG. 43 . Suchlateral movement of the support boss assembly 2810 during articulationis illustrated, for example, in FIG. 45 wherein the position of thesupport boss pin 1224 is shown in phantom lines in the mounting cavity2814 (also shown in phantom lines). Such arrangement enables the supportboss assembly 2810 to move in lateral directions, for example, that aretransverse to the shaft axis SA-SA. FIG. 45 illustrates articulation ofthe end effector 1200 about the articulation axis (not shown) in a firstdirection “FD”. As can be seen in that Figure, in addition to lateralmovement and rotation of the support boss assembly 2800 so as to providelateral (anti-buckling) support to the firing beam support members 2710,2720 as well as the firing beam 1310, it can be observed that the firstproximal mounting tab 2715 has moved axially relative to the secondproximal mounting tab 2725 within their respective mounting slots 1164,1162. Such arrangement therefore provides effective anti-bucklingsupport to the firing beam 1310 during articulation of the end effector1200 while enabling the firing beam 1310 to move axially during firingand retraction strokes. While the firing beam support assembly 2800 iswell-suited for use in connection with the firing beam support membersand/or compression plate arrangements of the various types disclosedherein, it will also be appreciated that the firing beam supportassembly 2800 may be effectively employed with surgical instruments thatdo not include such structures. In these alternative arrangements, forexample, the firing beam support assembly is configured to providesupport directly to the firing beam itself as it is articulated aboutthe articulation joint.

FIGS. 46-48 illustrate another surgical instrument 2010 that may be, forexample, identical to surgical instrument 1010 except for at least someof the differences discussed below. For example, surgical instrument2010 employs a firing beam support assembly, generally designated as2900 that comprises a plurality of movable firing beam support members2910 that are movably journaled on a portion of the firing beam 1310.For the purpose of illustration, the proximal-most movable firing beamsupport member has been designed as 2910P and the distal-most movablefiring beam support member has been designated 2910D. In the illustratedarrangement, each of the movable firing beam support members 2910 hasthe same shape and configuration. As can be most particularly seen inFIG. 47 , for example, each movable firing beam support member 2910includes a first support boss 2912 that is spaced from a second supportboss 2914. The first support boss 2912 includes a first arcuate supportsurface 2916 and the second support boss 2914 includes a second arcuatesupport surface 2918. In the illustrated embodiment, for example, eachof the first and second support bosses 2912, 2914 have a circularcross-sectional shape. The first arcuate support surface 2916 is spacedfrom the second arcuate support surface 2918 by a slot 2919 that issufficiently wide enough to receive the firing beam 1310 therebetweenwhile the first arcuate support surface 2916 remains in tangentialmovable contact with a lateral side portion of the firing beam 1310 andthe second arcuate support surface 2918 remains in tangential movablecontact with the other lateral side portion of the firing beam supportmember 1310 during articulation of the end effector 1200. It will beunderstood that the first and second support bosses 2912, 2914 preventbuckling of the firing beam 1310 during articulation and actuation ofthe firing beam 1310.

As can also be seen in FIGS. 46-48 , each of the movable firing beamsupport members 2910 have opposed arcuate rocker surfaces 2920 thatdefine a central contact area or rocker point 2922. FIG. 48 illustratesthe positions of the movable firing beam support members 2910 duringarticulation of the end effector 1200. As can be seen in that Figure,the movable firing beam support members 2910 pivot relative to eachother while remaining in contact with each other to support the firingbeam 1310 and prevent buckling thereof during articulation and operationthereof. As shown in FIG. 48 , the distal end 1161 of the proximal frameportion 1160 has opposed radiused surfaces 1163, 1165 which serve tosupport portions of the proximal-most movable firing beam support member2910P during articulation. Likewise, each of the upstanding support lugs1700 include an arcuate or dished surface 1701 for receiving a portionof the distal-most movable firing beam support member 2910D thereinduring articulation.

FIGS. 49-51 illustrate use of tension members 2930 to provide support tothe movable firing beam support members 2910 and to maintain the rockersurfaces 2920 of adjacent movable firing beam support members 2910 inpivotal contact with each other. In one example, two tension members2930 are employed and may each comprise a cable or wire member that hasa distal end 2932 that is anchored into the upstanding support lug 1700.The proximal end (not shown) of each tension member 2930 may be locatedwithin the handle or housing and movably supported therein. FIG. 51illustrates articulation of the end effector 1200 with the tensionmembers 2930 retaining the adjacent movable firing beam support members2910 in contact with each other to thereby provide an arcuate supportstructure for preventing buckling of the firing beam 1310 duringactuation thereof. FIG. 52 illustrates a firing beam support assembly2900 that can be used in connection with an articulatable end effectorthat is attached to the elongated shaft by a flexible joint arrangementof the type disclosed in, for example, U.S. Pat. No. 7,213,736 entitledSURGICAL STAPLING INSTRUMENT INCORPORATING AN ELECTROACTIVE POLYMERACTUATED FIRING BAR TRACK THROUGH AN ARTICULATION JOINT which has beenherein incorporated by reference in its entirety. In this arrangement,for example, the end effector 1200 may be articulated by applying anarticulation motion to one of the tension members 2930 depending uponthe desired direction of articulation. More specifically, referring toFIG. 52 , to cause the end effector to articulate in a first direction“FD”, an articulation motion in the form of a first tension force “FTF”is applied to the first tension member 2931. The first tension force“FTF” may be applied to the first tension member 2931 by an actuatorarrangement (not shown) in the handle or housing configured to pull thefirst tension member 2931 in the proximal direction “PD”. Similarly, tocause the end effector to articulate in a second direction “SD”, anarticulation motion in the form of a second tension force “STF” isapplied to the second tension member 2933. The second tension force“STF” may be applied to the second tension member 2933 by an actuatorarrangement (not shown) in the handle or housing that is configured topull the second tension member 2933 in the proximal direction “PD”.

When the end effector is articulated, a certain amount of stress isintroduced into the articulation drive mechanism which may make thefiring beams significantly more easy to buckle and thereby potentiallyreduce the loads that can be transmitted thereby. Various firing beamsupport assemblies disclosed herein address such problems. FIGS. 53-58illustrate another surgical instrument 3010 that may be, for example,identical to surgical instrument 10 except for at least some of thedifferences discussed below. For example, surgical instrument 3010employs a dynamic firing beam support assembly, generally designated as3100, that is used on connection with the firing beam support assembly600 as was described in detail hereinabove. As described above, thefiring beam guide assembly 601 includes a proximal end 602 and a distalend 604 that are interconnected by firing beam support members 606, 608that are separated by a firing beam slot 610 that extends through theproximal and distal ends 602, 604. The proximal end 602 of the firingbeam guide assembly 601 is received within a proximal beam cavity 169formed in the distal end portion 164 of the proximal frame portion 160.The distal end 604 of the firing beam guide assembly 601 is receivedwithin a distal bar cavity 224 formed in an upstanding support lug 1700formed in the proximal end potion 211 of the elongate channel 210. Tofacilitate some axial movement of the firing beam guide assembly 601during articulation of the end effector 200, the proximal beam cavity169 is sized relative to the proximal end portion 602 of the firing beamguide assembly 601 to permit some axial movement of the proximal endportion 602 therein. Similarly, the distal beam cavity 224 may be sizedrelative to the distal end portion 604 of the firing beam guide assembly601 to facilitate axial movement of the firing beam guide assembly 601relative to the elongate channel 210 during articulation thereof.

Referring now to FIG. 54 , in the illustrated example, the dynamic or“movable” firing beam support assembly 3100 comprises a support base3102 that is movably journaled on an upstanding pivot pin 174 formed onthe frame assembly 159. More specifically, the pivot pin 174 isrotatably received within a pivot hole 3104 in the support base 3102such that pivot pin 174 extends upwardly therethrough. The support base3102 is movable about a base axis A1-A1 defined by the pivot pin 174. Inaddition, the support base 3102 includes an elongate slot 3106 that issized to movably receive a blowout base guide pin 1708 that is formed onthe proximal end portion or mounting member 211 of elongate channel 210.See FIG. 55 . In addition, the dynamic beam support assembly 3100includes a first movable support or pin guide 3110 and a second movablesupport or pin guide 3120. The first and second movable pin guides 3110,3120 can move independently relative to each other and relative to thesupport base 3102 about a guide axis GA-GA defined by a pivot hole 3108in the support base 3102. As can be seen in FIG. 54 , for example, thefirst movable pin guide 3110 comprises a first pin guide base 3112 thathas a first upstanding support member or pin 3114 and a secondupstanding support member or pin 3116 protruding therefrom. Similarly,the second movable pin guide 3120 comprises a second pin guide base 3122that has a primary upstanding support member or pin 3124 and a secondaryupstanding support member or pin 3126. The second pin guide base 3122includes a mounting pin 3125 that extends through a mounting hole 3113in the first pin guide base 3112 and is received within a base mountinghole 3108 in the support base 3102.

In the illustrated example, the first support member or pin 3114 and theprimary support member or pin 3124 are configured to movably contact thefirst side plate 606 of the firing beam guide assembly 601 dependingupon the direction in which the end effector is articulated. Similarly,the second support member or pin 3116 and the secondary support memberor pin 3126 are configured to movable contact the second side plate 608depending upon the direction of articulation. The first and primary pins3114, 124 may slidably contact the first side plate 606 and the secondand secondary pins 3116, 3126 may slidably contact the second side plate608 when the end effector is in an unarticulated (axially aligned withthe shaft axis SA-SA). Such arrangement serves to support the firingbeam before and during articulation. In alternative examples, themovable firing beam support assembly 3100 may be used without a firingbeam guide assembly 601 or firing beam support plates, etc. In sucharrangements, for example, the first and primary pins 3114, 3124 maydirectly contact a first lateral side portion of the firing beam and thesecond and secondary pins 3116, 3126 may directly contact a secondlateral side portion of the firing beam to provide anti-buckling supportdirectly to the firing beam.

FIGS. 59-63 illustrate another surgical instrument 3010′ that may be,for example, identical to surgical instrument 3010 except for at leastsome of the differences discussed below. For example, the dynamic or“movable” firing beam support assembly 3100′ only includes twoupstanding support pins 3114′ and 3116′. The support base 3102′ issubstantially similar to the base 3102 except that the upstanding pins3114′ and 3116′ are attached directly to the base 3102′ and movetherewith.

The dynamic or movable firing beam support assembly 3100 and 3100′ offerseveral advantages over prior arrangements. For example, such structurerelates the angle of articulation to the amount of lateral support thatis supplied to the firing beam. This dynamic version of the activesupport not only pivots with the articulation of the distal and proximalchannel retainer, it also pivots the support elements (movable pins)themselves with respect to the support plates varying the unsupportedlengths with respect to the articulation angle. The changes in supportplate resilience could be tuned with a dynamic analysis to provide moresupport when fully articulated or more support when straight or whateveris desired. Traditional support plate and blow-out plate designs cannotadjust at all and provide the same support anywhere in the articulationspan. This dynamically changing support structure can be configured tosupport the system when it is at its weakest while also not overcompensating when it is at is strongest. Self locking, the pivotingstructures will only pivot until they are loaded at which point theywill bind and provide support. Such arrangements are relatively easy tomanufacture and assemble. “Dynamically changing” means that it can varythe unsupported section in relation to the risk of buckling. The dynamicarrangement may be effectively employed in connection with varioussupport member configurations disclosed herein.

The idea behind active support is to allow the angle of articulation tobe related to the amount of support that is supplied to the firing beamand the firing beam support member. This may be done by creating acouple that provides a shorter unsupported zone the more likely thebeams are to buckle (i.e., their higher articulation angle). The movableconfigurations of dynamic arrangements disclosed herein provide supportto the distal and proximal channel retainers and allow the supportassembly to pivot and slide with respect to them. Such arrangementprovides support to the outside articulation support plate when it mostneeds the shorter unsupported zone. Another feature is that the rightand left support plates are also linked together by the linkage itselffurther increasing the buckle resistance since both the inside andoutside support plates would both have to buckle in order for the systemto fail.

FIGS. 64-71 illustrate various firing beam support assemblies that maybe used with various surgical instrument examples disclosed herein. FIG.64 is a perspective view of a firing beam support assembly 600 that wasdescribed in detail above. FIGS. 65 and 66 illustrate a firing beamsupport assembly 2700′ that is similar to the firing beam supportassembly 2700 described above except for at least some of thedifferences discussed below. For example, the first and secondcompression bands 2712′ 2722′ are loosely coupled together by proximaland distal couplers 2730, 2740 that facilitate axial movement of thecompression bands 2712′, 2722′ relative to each other while maintainingthe compression bands 2712′, 2722′ in compressive contact with thefiring beam 1310 in the manners described in detail herein. The proximaland distal couplers 2730, 2740 may extend completely around thecompression bands 2712′, 2722′. To facilitate relative axial movement ofthe bands 2712′, 2722′, the proximal coupler 2730 is received withinproximal top and bottom notches 2732, 2734 in each of the compressionbands 2712′, 2722′ and the distal coupler 2740 is received within distaltop and bottom notches in each of the compression bands 2712′, 2722′ asshown. FIG. 68 illustrate another firing beam support assembly 2700″that is identical to the firing beam support assembly 2700′ except thatthe couplers 2730′ and 2740′ do not extend completely around both of thecompression bands 2712′, 2722′. In both arrangements, the proximal anddistal couplers enable the compression plates to move axially relativeto each other while preventing or at least limiting the lateral movementaway from each other in directions that are transverse to the shaftaxis. Thus, such arrangement retains the compression plates in contactwith the firing beam during articulation of the end effector. It willalso be understood that the axial length of the notches essentiallydefines the amount of relative axial travel that the compression platesmay move relative to each other.

FIGS. 68 and 69 illustrate another firing beam support assembly 3200that may be used in connection with various surgical instrument examplesdisclosed herein. As can be seen in those Figures, the firing beamsupport assembly 3200 may include a support retainer 3210 that has asomewhat box-like shape. In the illustrated example, the retainer 3200includes solid top and bottom portions 3212, 3214 that areinterconnected by spaced side members 3216, 3218 that each have a seriesof windows 3220 therein to provide the retainer with some bendingflexure (represented by arrow “B”) in the Z directions, but nosignificant flexure in the “Y” directions. The proximal end 3211 of thesupport retainer 3210 includes a proximal flange 3213 for movablemounting within an aperture in the spine or frame assembly of thesurgical instrument as was described herein. Similarly, the distal end3215 of the support retainer 3210 has a distal flange 3217 for movablemounting within an aperture in the proximal end portion of the elongatechannel as was also described herein. A pair of downwardly extending toplugs 3230 protrude from the top portion 3212 and a pair of upwardlyprotruding bottom lugs 3232 protrude from the bottom portion 3214 asshown. The top and bottom lugs 3230 and 3232 define a firing beamchannel 3240 through which the firing beam (not shown) may axiallyextend. In one arrangement, the outer laminate layers of the firing beammay be received between the lugs 3230 and 3232. In the illustratedexample, however, first and second friction spacers 3250, 3252 extendbetween the lugs 3230, 3232. In addition, the illustrated exampleincludes compression plates 3260, 3262 of the type and constructiondescribed herein to provide compressive support to the firing beam as itpasses through the retainer to prevent bucking of the firing beam duringarticulation of the surgical instrument.

FIG. 70 illustrates another firing beam support assembly 3300 that maybe used in connection with various surgical instrument examplesdisclosed herein. As can be seen in those Figures, the firing beamsupport assembly 3300 includes a tubular body 3302 that is fabricatedfrom, for example, Nylon, polcarbonate, Isoplast®, etc. The body 3302includes a firing beam passage 3304 for movably receiving a firing beam(not shown) therethrough and is configured to afford somebending/flexure in the Z directions. The proximal end 3311 of the firingbeam support assembly 3300 includes a proximal flange 3313 for movablemounting within an aperture in the spine or frame assembly of thesurgical instrument as was described herein. Similarly, the distal end32315 of the firing beam support assembly 3300 has a distal flange 3317for movable mounting within an aperture in the proximal end portion ofthe elongate channel as was also described herein. FIG. 71 illustratesanother firing beam support assembly 3300′ that is identical to thefiring beam support assembly 3300 but includes windows 3310 in the sidewalls thereof to enhance the flexibility of the body 3302 in the Zdirections.

FIG. 72 illustrates an exemplary motor driven (or “powered”) surgicalinstrument 4010 which includes a housing or handle 4020, an elongateshaft assembly 4100 and an end effector 4200 that is operably connectedto the elongate shaft assembly 4100. The end effector 4200 is similar toend effector 200 as was discussed in detail above. As indicated aboveand will be describe further below, various portions of the surgicalinstrument 4010 are motor driven. In addition, the elongate shaftassembly 4010 is configured for detachment from the handle 4020. Variousfeatures and details regarding these components may be found in U.S.Pat. application Ser. No. 13/803,053, entitled INTERCHANGEABLE SHAFTASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, U.S. Pat. No. 9,883,860,the entire disclosure of which is hereby incorporated by referenceherein.

The end effector 4200 includes, among other things, an elongate channel210 that is configured to operably support a staple cartridge 230therein. The end effector 200 further includes an anvil 250 thatincludes an anvil body 252 that has a staple forming undersurface 254thereon. The anvil 250 is moved between open and closed positions by aclosure tube assembly 4120 that is axially advanced in the distal andproximal directions by actuating the closure trigger 4028. The closuretube assembly 4120 includes a proximal closure tube shaft segment 4123that is pivotally coupled to a distal closure tube segment 4130 in themanners described herein to facilitate articulation about anarticulation axis B-B. The proximal closure tube shaft segment 4123includes a proximal end portion 4200 that operably interfaces with anozzle assembly 4202, a switch drum arrangement 4204 and a slip ringassembly 4206. Further details regarding the nozzle assembly, the switchdrum arrangement and the slip ring assembly may be found in U.S. Pat.No. 9,883,860, which has been herein incorporated by reference in itsentirety as well as in U.S. Pat. application Ser. No. 14/226,075, filedMar. 26, 2014, entitled MODULAR POWERED SURGICAL INSTRUMENT WITHDETACHABLE SHAFT ASSEMBLIES, now U.S. Pat. No. 9,743,929, the entiredisclosure of which is also hereby incorporated by reference herein.

The closure tube arrangements disclosed in the references abovegenerally have a fixed closure stroke range. That is, actuation of theclosure trigger or other closure actuator arrangement results in theaxial advancement of the closure tube. The magnitude of such axialadvancement is limited to the amount of space available in the handle orhousing for accommodating all of the various components of the closuresystem. For example, the hand-held embodiments employ a handle that canbe easily supported and manipulated in one hand. Such handlearrangements, however have limited space for accommodating the closureand firing systems. As discussed in detail in those references, in somearrangements, the firing trigger is movably linked to a closure shuttlethat is attached to the closure tube assembly. Actuation of the closuretrigger causes the linkage arrangement to axially advance the closureshuttle and the closure tube assembly. Various advantages may be gainedby increasing the amount or magnitude of such closure stroke.

The shaft assembly 4100 includes a chassis 4300 that is configured to beremovably coupled to the handle 4020 in the various manners described infurther detail in the above-identified references. As can be seen inFIGS. 76 and 77 , the shaft assembly 4100 includes the proximal frame orproximal spine portion 4160 that includes a proximal end 4161 which isrotatably supported in a chassis 4300. In the illustrated example, theproximal end 4141 of the proximal frame portion 4160 has a thread 4163formed thereon for threaded attachment to a spine bearing 4180configured to be supported within the chassis 4300. Such an arrangementfacilitates rotatable attachment of the proximal frame portion 4160 tothe chassis 4300 such that the spine assembly 4159 may be selectivelyrotated about a shaft axis SA-SA relative to the chassis 4300.

Referring primarily to FIGS. 75-77 , the interchangeable shaft assembly4100 includes a closure shuttle 4350 that is slidably supported withinthe chassis 4300 such that it may be axially moved relative thereto. Theproximal closure tube segment 4123 is coupled to the closure shuttle4350 for relative rotation thereto. For example, a U shaped connector263 is inserted into an annular slot 4129 in the proximal closure tubesegment 4123 and is retained within vertical slots in the closureshuttle 4350. Such an arrangement serves to attach the proximal closuretube segment 4123 to the closure shuttle 4350 for axial travel therewithwhile enabling the proximal closure tube segment 4123 to rotate relativeto the closure shuttle 4350 about the shaft axis SA-SA. A closure spring4353 is journaled on the proximal closure tube segment 4123 and servesto bias the closure tube proximal closure tube segment 4123 in theproximal direction “PD” which can serve to pivot the closure trigger4028 into the unactuated position when the shaft assembly 4100 isoperably coupled to the handle 4020.

The shaft assembly 4100 further includes a closure transmission assembly4500 for amplifying the amount of closure motion that is applied to theclosure shuttle 4350 and ultimately to the anvil through the closuretube assembly. Such arrangement offers various advantages such as theability to increase the closure stroke which can lead to more jawopening ability. Stated another way, this extra stroke capability onboth the proximal and distal ends allow the distal closure tube segmentto also be retracted in the proximal direction further to provide theanvil with the ability to open further. As can be seen in FIGS. 75 and76 , the closure transmission 4500 links the closure shuttle 4350 to aproximal closure hook assembly 4360. The proximal closure hook assembly4360 includes hooks 4362 that are adapted to hookingly engage theattachment pin 4033 that is attached to a second closure link 4031 thatis operably coupled to the closure trigger 4028 as described in detailin U.S. Pat. application Ser. No. 14/226,075. As described in thatreference, actuation of the closure trigger 4028 will distally advancethe closure link 4031 and apply a distal closure motion to the proximalclosure hook assembly 4360.

In the illustrated example, the closure transmission assembly 4500includes a proximal closure hook rack 4504 that is attached to theproximal closure hook assembly 4360. In addition, the closuretransmission assembly 4500 further includes a transfer rack 4506 that ismovably supported in transmission housing 4502. The closure transmissionassembly 4500 further includes a distal closure rack 4508 that isattached to the closure shuttle 4350. A closure pinion 4510 is inmeshing engagement with the closure hook rack 4504 and the transfer rack4506. A transfer pinion gear 4512 is attached to a multiplier piniongear 4514 and is in meshing engagement with the transfer rack 4506. Themultiplier pinion is in meshing engagement with the distal closure rack4508. Thus, actuation of the closure trigger 4028 results in the distaladvancement of the closure hook rack 4504 which ultimately results inthe distal advancement of the distal closure hook rack 4508 and theclosure shuttle 4350. Distal movement of the closure shuttle 4350results in distal movement of the closure tube assembly.

Thus, the closure transmission assembly essentially comprises means forincreasing a closure stroke of the closure tube assembly. For example, aconventional closure arrangement may comprise a closure actuator that,upon actuation, applies a closure motion to the closure tube assembly.Application of such closure motion results in the axial movement of theclosure tube assembly through a closure stroke that has a maximum rangeof axial closure travel “MCT”. A surgical instrument that employs aclosure transmission assembly of the various types and constructionsdisclosed herein will also have a closure stroke that has a maximumrange of axial closure travel “MCT1”. With all other aspects of thesedevices being otherwise the same or identical, MCT1>MCT.

Referring now to FIGS. 78-80 , the end effector 200 is coupled to theelongate shaft assembly 4100 by an articulation joint 109 of the typeand construction described above. However, other articulation jointarrangements could also be employed. In the illustrated example, theshaft assembly 4100 includes a closure tube assembly 4120 that includesthe proximal closure tube segment 4123. The illustrated example furtherincludes a flexible closure tube segment 4600 that is coupled to thedistal end of the distal closure tube segment 4123 for travel therewith.The flexible closure tube segment 4600 sized to extend over thearticulation joint 109 and includes a distal end 4602 and a proximal end4604. The proximal end 4604 is attached to the distal end of the distalclosure tube segment 4123. A flexible tubular segment 4610 extendsbetween the proximal end 4604 and the distal end 4602 and, in theillustrated example, includes two spaced, axially extending upper andlower spine members 4612, 4614. Extending from each lateral side are aplurality of spaced rib members 4616 that serve to define a tubular paththrough which the articulation joint extends. When the closure tubeassembly 4120 is axially advanced in the distal direction “DD”, thedistal end 4602 of the flexible closure tube segment 4600 interacts withthe anvil 250 in the various manners described herein to move the anvil250 to closed positions. The flexible closure tube segment 4600 alsoaccommodates articulation of the end effector 200 as illustrated in FIG.80 .

EXAMPLES Example 1

A surgical instrument comprising an elongate channel that is configuredto operably support a surgical staple cartridge therein. An anvil ispivotally coupled to a proximal end of the elongate channel such that itis pivotal about a discrete, non-movable anvil axis defined by theelongate channel. A firing member is configured for axial travel withinthe elongate channel in response to an application of a firing motionthereto. The firing member is configured to movably engage the anvil andthe elongate channel to space the anvil relative to the elongate channelat a desired spacing as the firing member is axially driven through theelongate channel. A closure member is configured to move the anvilbetween an open position and closed positions relative to the elongatechannel upon application of closure motions to the closure member.

Example 2

The surgical instrument of Example 1, wherein the elongate channel iscoupled to an elongate shaft assembly. The elongate shaft assemblydefines a shaft axis and the closure member is axially movable betweenan unactuated position and an actuated position along the shaft axis.

Example 3

The surgical instrument of Example 2 wherein the elongate shaft assemblycomprises a frame assembly that is coupled to the elongate channel andthe closure member is axially movable relative to the frame assembly.

Example 4

The surgical instrument of Examples 1, 2 or 3, wherein the anvilcomprises an anvil body that includes a staple forming undersurface andan anvil mounting portion. The anvil mounting portion comprises aproximally protruding first anvil arm that includes an inwardlyextending first anvil trunnion and a proximally protruding second anvilarm that is spaced from the first anvil arm. The anvil mounting portionfurther comprises an inwardly extending second anvil trunnion that isspaced from the first anvil trunnion. The first anvil trunnion ispivotally supported in a first trunnion hole in a first proximal endportion of the elongate channel and the second anvil trunnion ispivotally supported in a second trunnion hole in a second proximal endportion of the elongate channel. The first and second trunnion holes arecoaxially aligned with each other on the anvil axis.

Example 5

The surgical instrument of Examples 1, 2, 3 or 4, wherein the anvilcomprised an anvil ramp that is configured for contact with a distal endof the closure member.

Example 6

The surgical instrument of Examples 1, 2, 3, 4 or 5, wherein the anvilfurther comprises a staple forming undersurface. A firing member slot isformed in the staple forming undersurface. A first closure ledge islocated on the anvil such that it is adjacent a first side of the firingmember slot. A second closure ledge is located on the anvil such that itis adjacent a second side of the firing member slot. A channel slotextends through a bottom of the elongate channel. The firing membercomprises a vertically extending firing member body and a first firingmember tab that protrudes from a first lateral side of the verticallyextending firing member body to be slidably received on the firstclosure ledge in the anvil. A second firing member tab protrudes from asecond lateral side of the vertically extending firing member body to beslidably received on the first closure ledge in the anvil. A bottom footportion is located on a bottom end of the vertically extending firingmember body and extends laterally from the first and second lateralsides of the vertically extending firing member body.

Example 7

The surgical instrument of Example 6 wherein a first closure ledge rampcommunicates with the first closure ledge on a proximal end thereof. Thefirst closure ledge ramp is configured to guide the first firing membertab onto the first closure ledge upon application of the firing motionsto the firing member. A second closure ledge ramp communicates with thesecond closure ledge on a proximal end thereof. The second closure ledgeramp is configured to guide the second firing member tab onto the secondclosure ledge upon the application of the firing motions to the firingmember.

Example 8

The surgical instrument of Examples 1, 2, 3, 4, 5, 6 or 7, wherein thefiring member comprises a tissue cutting surface.

Example 9

The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7 or 8, whereinthe elongate shaft assembly is operably coupled to the elongate channel.A housing is operably coupled to the elongate shaft assembly andoperably supports a firing system that is configured to generate thefiring motions. The housing also operably supports a closure system thatis configured to generate the closure motions.

Example 10

The surgical instrument of Example 9, wherein the housing comprises ahandle.

Example 11

The surgical instrument of Examples 9 or 10, wherein at least one of thefiring system and the closure system is manually operable.

Example 12

The surgical instrument of Examples 9, 10 or 11, wherein at least one ofthe firing system and second closure system is motor powered.

Example 13

The surgical instrument of Examples 9, 10, 11 or 12, wherein the housingcomprises a portion of a robotic system.

Example 14

The surgical instrument of Examples 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12or 13, wherein the elongate channel is pivotally coupled to the elongateshaft assembly such that the elongate channel may be selectivelyarticulated about an articulation axis that is transverse to a shaftaxis that is defined by the elongate shaft assembly.

Example 15

The surgical instrument of Example 14, wherein an articulation assemblyis operably coupled to the elongate channel. The articulation assemblyis responsive to articulation motions generated by an articulationsystem.

Example 16

A surgical instrument comprising an elongate channel that includes asurgical staple cartridge operably supported therein. The surgicalstaple cartridge operably supports a plurality of surgical staplestherein. A firing member is operably supported for axial travel throughthe surgical staple cartridge to eject the surgical staples from thesurgical staple cartridge. The firing member is configured to movablyengage the anvil and the elongate channel to space the anvil relative tothe elongate channel at a desired spacing as the firing member isaxially driven through the elongate channel. The surgical instrumentfurther comprises firing means for moving the firing member through thesurgical staple cartridge. An anvil that includes an anvil formingsurface is configured to form the surgical staples that are ejected fromthe surgical staple cartridge. The surgical instrument further comprisesmeans for mounting the anvil to the elongate channel such that the anvilis selectively pivotal relative to the elongate channel without movingin axial directions relative to the elongate channel. The surgicalinstrument further comprises pivoting means for pivoting a distal end ofthe anvil toward the elongate channel. The pivoting means isindependently operable from the firing means.

Example 17

The surgical instrument of Example 16, wherein the firing means isunactuatable until the pivoting means has pivoted the distal end of theanvil to a closed position.

The entire disclosures of:

-   U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE,    which issued on Apr. 4, 1995;-   U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT    HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on    Feb. 21, 2006;-   U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING AND    FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued on    Sep. 9, 2008;-   U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL    INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which    issued on Dec. 16, 2008;-   U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN    ARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;-   U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS,    which issued on Jul. 13, 2010;-   U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLE    FASTENER CARTRIDGE, which issued on Mar. 12, 2013;-   U.S. Pat. application Ser. No. 11/343,803, entitled SURGICAL    INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No.    7,845,537;-   U.S. Pat. application Ser. No. 12/031,573, entitled SURGICAL CUTTING    AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed Feb. 14, 2008;-   U.S. Pat. application Ser. No. 12/031,873, entitled END EFFECTORS    FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed Feb. 15, 2008,    now U.S. Pat. No. 7,980,443;-   U.S. Pat. application Ser. No. 12/235,782, entitled MOTOR-DRIVEN    SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No. 8,210,411;-   U.S. Pat. application Ser. No. 12/249,117, entitled POWERED SURGICAL    CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING    SYSTEM, now U.S. Pat. No. 8,608,045;-   U.S. Pat. application Ser. No. 12/647,100, entitled MOTOR-DRIVEN    SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL    CONTROL ASSEMBLY, filed Dec. 24, 2009, now U.S. Pat. No. 8,220,688;-   U.S. Pat. application Ser. No. 12/893,461, entitled STAPLE    CARTRIDGE, filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;-   U.S. Pat. application Ser. No. 13/036,647, entitled SURGICAL    STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No.    8,561,870;-   U.S. Pat. application Ser. No. 13/118,241, entitled SURGICAL    STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS,    now U.S. Pat. No. 9,072,535;-   U.S. Pat. application Ser. No. 13/524,049, entitled ARTICULATABLE    SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed on Jun. 15,    2012, now U.S. Pat. No. 9,101,358;-   U.S. Pat. application Ser. No. 13/800,025, entitled STAPLE CARTRIDGE    TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S.    Pat. No. 9,345,481;-   U.S. Pat. application Ser. No. 13/800,067, entitled STAPLE CARTRIDGE    TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S.    Pat. Application Publication No. 2014/0263552;-   U.S. Pat. Application Publication No. 2007/0175955, entitled    SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER    LOCKING MECHANISM, filed Jan. 31, 2006; and-   U.S. Pat. Application Publication No. 2010/0264194, entitled    SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR,    filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby    incorporated by reference herein.

Although the various embodiments of the devices have been describedherein in connection with certain disclosed embodiments, manymodifications and variations to those embodiments may be implemented.Also, where materials are disclosed for certain components, othermaterials may be used. Furthermore, according to various embodiments, asingle component may be replaced by multiple components, and multiplecomponents may be replaced by a single component, to perform a givenfunction or functions. The foregoing description and following claimsare intended to cover all such modification and variations.

With respect to the use of substantially any plural and/or singularterms herein, those having skill in the art can translate from theplural to the singular and/or from the singular to the plural as isappropriate to the context and/or application. The varioussingular/plural permutations are not expressly set forth herein for sakeof clarity.

The herein described subject matter sometimes illustrates differentcomponents contained within, or connected with, different othercomponents. It is to be understood that such depicted architectures aremerely exemplary, and that in fact many other architectures may beimplemented which achieve the same functionality. In a conceptual sense,any arrangement of components to achieve the same functionality iseffectively “associated” such that the desired functionality isachieved. Hence, any two components herein combined to achieve aparticular functionality can be seen as “associated with” each othersuch that the desired functionality is achieved, irrespective ofarchitectures or intermedial components. Likewise, any two components soassociated can also be viewed as being “operably connected,” or“operably coupled,” to each other to achieve the desired functionality,and any two components capable of being so associated can also be viewedas being “operably couplable,” to each other to achieve the desiredfunctionality. Specific examples of operably couplable include but arenot limited to physically mateable and/or physically interactingcomponents, and/or wirelessly interactable, and/or wirelesslyinteracting components, and/or logically interacting, and/or logicallyinteractable components.

Although various embodiments have been described herein, manymodifications, variations, substitutions, changes, and equivalents tothose embodiments may be implemented and will occur to those skilled inthe art. Also, where materials are disclosed for certain components,other materials may be used. It is therefore to be understood that theforegoing description and the appended claims are intended to cover allsuch modifications and variations as falling within the scope of thedisclosed embodiments. The following claims are intended to cover allsuch modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

Preferably, the invention described herein will be processed beforesurgery. First, a new or used instrument is obtained and if necessarycleaned. The instrument can then be sterilized. In one sterilizationtechnique, the instrument is placed in a closed and sealed container,such as a plastic or TYVEK bag. The container and instrument are thenplaced in a field of radiation that can penetrate the container, such asgamma radiation, x-rays, or high-energy electrons. The radiation killsbacteria on the instrument and in the container. The sterilizedinstrument can then be stored in the sterile container. The sealedcontainer keeps the instrument sterile until it is opened in the medicalfacility.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

In summary, numerous benefits have been described which result fromemploying the concepts described herein. The foregoing description ofthe one or more embodiments has been presented for purposes ofillustration and description. It is not intended to be exhaustive orlimiting to the precise form disclosed. Modifications or variations arepossible in light of the above teachings. The one or more embodimentswere chosen and described in order to illustrate principles andpractical application to thereby enable one of ordinary skill in the artto utilize the various embodiments and with various modifications as aresuited to the particular use contemplated. It is intended that theclaims submitted herewith define the overall scope.

What is claimed is:
 1. A surgical instrument, comprising: an endeffector, comprising: an elongate channel configured to operably supporta surgical staple cartridge therein; and an anvil pivotally coupled to aproximal end of the elongate channel, the anvil pivotal about adiscrete, non-movable anvil axis defined by said elongate channel; aflexible firing member configured for axial travel within the elongatechannel in response to an application of firing motions thereto, theflexible firing member being configured to movably engage the anvil andthe elongate channel as the flexible firing member is axially driventhrough the elongate channel; an elongate shaft comprising a shaftframe, wherein the shaft frame defines a mounting slot; first and secondflexible supports and configured to support the flexible firing memberduring axial travel thereof, wherein the first flexible support iscoupled with the second flexible support to allow the first and secondsupports to act as a couple, wherein each of the first and secondflexible supports comprises a mounting tab configured to be received inthe mounting slot; and a closure member configured to move the anvilbetween an open position and closed positions relative to the elongatechannel upon application of closure motions to the closure member. 2.The surgical instrument of claim 1, wherein the flexible firing memberis further configured to movably engage the anvil and the elongatechannel to space the anvil relative to the elongate channel at a desiredspacing as the flexible firing member is axially driven through theelongate channel.
 3. The surgical instrument of claim 1, wherein thefirst support provides a first moment of inertia, and the first andsecond supports together provide a second moment of inertial whichexceeds twice the first moment of inertia.
 4. The surgical instrument ofclaim 1, wherein the first and second supports together minimize anamount of force to bend the flexible firing member.
 5. The surgicalinstrument of claim 1, wherein the coupling of the first flexiblesupport to the second flexible support axially restrains the first andsecond flexible supports.
 6. The surgical instrument of claim 1, whereinthe first and second supports are further configured to movelongitudinally with respect to each other.
 7. The surgical instrument ofclaim 1, wherein one of the first and second supports moves further thanthe other of the first and second supports when the flexible firingmember is articulated.
 8. The surgical instrument of claim 1, furthercomprising the surgical staple cartridge.
 9. The surgical instrument ofclaim 8, wherein axial travel of the flexible firing member isconfigured to deploy staples removably stored in the surgical staplecartridge.
 10. The surgical instrument of claim 9, wherein the endeffector further comprises a sled movable by the flexible firing memberfrom a proximal position to a distal position, and wherein the staplesare deployable from the surgical staple cartridge based on movement ofthe sled toward the distal position.
 11. The surgical instrument ofclaim 1, further comprising an articulation joint, wherein the endeffector is rotatable relative to the elongate shaft about thearticulation joint, and wherein the first and second flexible supportsextend through the articulation joint.
 12. The surgical instrument ofclaim 1, wherein the first and second flexible supports are located onopposing sides of the flexible firing member.
 13. The surgicalinstrument of claim 1, wherein each of the first and second flexiblesupports comprises a plate.
 14. The surgical instrument of claim 1,wherein the flexible firing member comprises a plurality of laminatedlayers.
 15. A surgical instrument, comprising: an end effector,comprising: a first jaw; and a second jaw movable relative to the firstjaw between an open position and a closed position; a flexible firingmember movable through the end effector during a firing stroke; anelongate shaft comprising a shaft frame, wherein the shaft frame definesa mounting slot; an articulation joint, wherein the end effector isarticulatable relative to the elongate shaft about the articulationjoint; an articulation system configured to articulate the end effectorrelative to the elongate shaft about the articulation joint, wherein thearticulation system comprises: a first tension member extending on afirst lateral side of the flexible firing member; and a second tensionmember extending on a second lateral side of the flexible firing member;the end effector further comprising: first and second flexible supportsand configured to support the flexible firing member during axial travelthereof, wherein the first flexible support is coupled with the secondflexible support to allow the first and second supports to act as acouple, wherein each of the first and second flexible supports comprisesa mounting tab configured to be received in the mounting slot; and aclosure member configured to move the anvil between an open position andclosed positions relative to the elongate channel upon application ofclosure motions to the closure member.
 16. The surgical instrument ofclaim 15, wherein the flexible firing member comprises a first cam and asecond cam configured to maintain a gap between the first jaw and thesecond jaw.
 17. The surgical instrument of claim 15, wherein the firstand second tension members each comprise an articulation cable.
 18. Thesurgical instrument of claim 15, wherein the first support provides afirst moment of inertia, and the first and second supports togetherprovide a second moment of inertial which exceeds twice the first momentof inertia.
 19. The surgical instrument of claim 15, wherein the firstand second supports together minimize an amount of force to bend theflexible firing member.
 20. The surgical instrument of claim 15, whereinthe coupling of the first flexible support to the second flexiblesupport axially restrains the first and second flexible supports. 21.The surgical instrument of claim 15, wherein the first and secondsupports are further configured to move longitudinally with respect toeach other.
 22. The surgical instrument of claim 15, wherein one of thefirst and second supports moves further than the other of the first andsecond supports when the flexible firing member is articulated.
 23. Thesurgical instrument of claim 15, further comprising the surgical staplecartridge.
 24. The surgical instrument of claim 23, wherein axial travelof the flexible firing member is configured to deploy staples removablystored in the surgical staple cartridge.
 25. The surgical instrument ofclaim 24, wherein the end effector further comprises a sled movable bythe flexible firing member from a proximal position to a distalposition, and wherein the staples are deployable from the surgicalstaple cartridge based on movement of the sled toward the distalposition.
 26. The surgical instrument of claim 15, further comprising anarticulation joint, wherein the end effector is rotatable relative tothe elongate shaft about the articulation joint, and wherein the firstand second flexible supports extend through the articulation joint. 27.The surgical instrument of claim 15, wherein the first and secondflexible supports are located on opposing sides of the flexible firingmember.
 28. The surgical instrument of claim 15, wherein each of thefirst and second flexible supports comprises a plate.
 29. The surgicalinstrument of claim 15, wherein the flexible firing member comprises aplurality of laminated layers.
 30. A surgical instrument usable with arobotic surgical system comprising a first rotary driver and a secondrotary driver, wherein the surgical instrument comprises: an endeffector, comprising: an elongate channel configured to operably supporta surgical staple cartridge therein; and an anvil pivotally coupled to aproximal end of the elongate channel, the anvil pivotal about adiscrete, non-movable anvil axis defined by said elongate channel; aflexible firing member configured for axial travel within the elongatechannel in response to an application of firing motions thereto, theflexible firing member being configured to movably engage the anvil andthe elongate channel as the flexible firing member is axially driventhrough the elongate channel; an elongate shaft comprising a shaftframe, wherein the shaft frame defines a mounting slot; an articulationjoint, wherein the end effector is articulatable relative to theelongate shaft about the articulation joint; an articulation systemconfigured to articulate the end effector relative to the elongate shaftabout the articulation joint, first and second flexible supports andconfigured to support the flexible firing member during axial travelthereof, wherein the first flexible support is coupled with the secondflexible support to allow the first and second supports to act as acouple, wherein each of the first and second flexible supports comprisesa mounting tab configured to be received in the mounting slot; and ahousing assembly removably coupleable to the robotic surgical system,wherein the housing assembly comprises: a first drive element operablycoupled to the flexible firing member and removably coupleable with thefirst rotary driver, wherein the flexible firing member is moveablethrough the firing stroke based on the actuation of the first rotarydriver; and a second drive element operably coupled to the articulationsystem and removably coupleable with the second rotary driver, whereinthe end effector is articulatable about the articulation joint based onthe actuation of the second rotary driver.
 31. The surgical instrumentof claim 30, wherein: the end effector is articulatable in the firstdirection based on rotation of the second drive element in a firstrotary direction; and the end effector is articulatable in the seconddirection based on rotation of the second drive element in a secondrotary direction opposite the first direction.
 32. The surgicalinstrument of claim 30, wherein the staple cartridge is replaceable. 33.The surgical instrument of claim 30, wherein each of the first andsecond flexible supports comprises a plate.